Add files using upload-large-folder tool

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the blue and white playingcards packaging and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick the blue carton for playingcards, put it inside the basket for carrying things.",
+    "Pick up the playingcards box with white symbols and set it inside the basket made of woven wood.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the brown basket with woven ridges.",
+    "Lift the blue playingcards box, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Put the rectangular blue playingcards case in the brown basket and pull the brown basket away.",
+    "Move the blue and white playingcards packaging to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Take the small playingcards container, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Use one arm to place the playingcards box with white symbols in the woven basket, adjust the woven basket.",
+    "Use the left arm to grab the small playingcards container, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Pick up the smooth playingcards holder, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Put the card box with golden designs in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the brown basket.",
+    "Grab the rectangular blue playingcards case and drop it in the basket with handle.",
+    "Place the blue and white playingcards packaging in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the box of playingcards, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Lift the smooth playingcards holder, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards and drop it in the brown basket, then move the brown basket.",
+    "Grab the blue playingcards box, set it into the brown basket.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the playingcards box with white symbols, place it in the woven basket, then move the woven basket away.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick and move the small playingcards container, then shift the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the playingcards box with white symbols into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Pick the blue carton for playingcards, place it in the oval-shaped basket with woven body.",
+    "Pick up the small playingcards container, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Use one arm to place the blue pack holding playingcards in the basket for carrying things.",
+    "Set the blue pack holding playingcards in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the box of playingcards, drop the box of playingcards in the brown basket, slide the brown basket lightly.",
+    "Pick the rectangular blue playingcards case and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the palm-sized playingcards carton, put it inside the woven basket.",
+    "Pick up the box of playingcards and set it inside the basket for holding items.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the wooden basket with curved handle.",
+    "Lift the small playingcards container, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Grab the box of playingcards, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Put the blue playingcards box in the basket for holding items and pull the basket for holding items away.",
+    "Move the playingcards box with white symbols to the basket for holding items, then shift the basket for holding items.",
+    "Take the smooth playingcards holder, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Use one arm to place the small playingcards container in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Pick up the small playingcards container, put it in the brown basket, shift the brown basket a little.",
+    "Put the blue and white playingcards packaging in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the smooth ribbed light brown basket.",
+    "Grab the blue carton for playingcards and drop it in the basket with loop handle.",
+    "Place the blue and white playingcards packaging in the basket with loop handle, then grab the basket with loop handle.",
+    "Grab the blue carton for playingcards, drop in the brown basket, and move the brown basket.",
+    "Lift the blue carton for playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the palm-sized playingcards carton, set it into the brown basket with woven ridges.",
+    "Lift the small playingcards container using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Use one arm to grab the blue carton for playingcards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols, place it in the woven basket, then move the woven basket away.",
+    "Take the small playingcards container, put the small playingcards container into the woven basket, shift the woven basket.",
+    "Pick and move the palm-sized playingcards carton, then shift the basket with loop handle.",
+    "Grab the card box with golden designs, drop it in the woven basket, then move the woven basket.",
+    "Pick the playingcards pack with blue top, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Place the box of playingcards into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Pick the blue playingcards box, place it in the woven basket.",
+    "Pick up the card box with golden designs, place it in the basket for holding items, grab the basket for holding items.",
+    "Use one arm to place the box of playingcards in the wooden basket with curved handle.",
+    "Set the card box with golden designs in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Pick the card box with golden designs and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick the blue playingcards box, put it inside the oval-shaped basket with woven body.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket made of woven wood.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket for carrying things.",
+    "Lift the playingcards box with white symbols, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Grab the smooth playingcards holder, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Put the blue playingcards box in the basket with handle and pull the basket with handle away.",
+    "Move the blue playingcards box to the brown basket, then shift the brown basket.",
+    "Take the playingcards box with white symbols, set it in the basket with handle, shift the basket with handle lightly.",
+    "Use one arm to place the playingcards box with white symbols in the basket with handle, adjust the basket with handle.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the woven basket, and move the woven basket using the right arm.",
+    "Pick up the palm-sized playingcards carton, put it in the basket with handle, shift the basket with handle a little.",
+    "Put the blue carton for playingcards in the woven basket, then move the woven basket away slightly.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket with loop handle.",
+    "Grab the palm-sized playingcards carton and drop it in the light brown oval basket.",
+    "Place the playingcards box with white symbols in the brown basket, then grab the brown basket.",
+    "Grab the blue and white playingcards packaging, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Lift the playingcards pack with blue top, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the box of playingcards and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the blue and white playingcards packaging, set it into the light brown oval basket.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Use one arm to grab the card box with golden designs, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the blue and white playingcards packaging, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket with loop handle, shift the basket with loop handle.",
+    "Pick and move the rectangular blue playingcards case, then shift the woven basket.",
+    "Grab the small playingcards container, drop it in the brown basket, then move the brown basket.",
+    "Pick the playingcards box with white symbols, place it in the woven basket, shift the woven basket.",
+    "Place the card box with golden designs into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Pick the small playingcards container, place it in the basket for holding items.",
+    "Pick up the card box with golden designs, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Use one arm to place the palm-sized playingcards carton in the basket for holding items.",
+    "Set the blue carton for playingcards in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Pick the blue pack holding playingcards and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the small playingcards container in the basket with handle, then move the basket with handle away slightly.",
+    "Pick the rectangular blue playingcards case and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the blue and white playingcards packaging, place it in the woven basket.",
+    "Place the playingcards box with white symbols in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick up the rectangular blue playingcards case and set it inside the wooden basket with curved handle.",
+    "Lift the smooth playingcards holder, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the brown basket with woven ridges.",
+    "Grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick up the blue carton for playingcards and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the woven basket, slide the woven basket lightly.",
+    "Grab the card box with golden designs, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the playingcards pack with blue top, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the brown basket, shift the brown basket.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Place the blue and white playingcards packaging into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the blue playingcards box, put it inside the basket for carrying things.",
+    "Pick up the playingcards box with white symbols, place it in the woven basket, grab the woven basket.",
+    "Use one arm to place the box of playingcards in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the blue playingcards box, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Grab the box of playingcards, set it into the smooth ribbed light brown basket.",
+    "Pick and move the box of playingcards, then shift the basket with handle.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the brown basket, then move the brown basket.",
+    "Grab the blue carton for playingcards, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the smooth ribbed light brown basket.",
+    "Use the left arm to grab the blue playingcards box, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Pick the playingcards pack with blue top, place it in the brown basket, shift the brown basket.",
+    "Grab the smooth playingcards holder and drop it in the basket made of woven wood.",
+    "Use one arm to place the playingcards box with white symbols in the basket for holding items.",
+    "Move the blue pack holding playingcards to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Set the rectangular blue playingcards case in the woven basket, and shift the woven basket away.",
+    "Take the blue carton for playingcards, set it in the brown basket, shift the brown basket lightly.",
+    "Lift the small playingcards container, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Put the card box with golden designs in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Pick the playingcards pack with blue top and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick the small playingcards container, place it in the basket with loop handle.",
+    "Place the playingcards box with white symbols in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick up the small playingcards container and set it inside the basket with loop handle.",
+    "Lift the blue and white playingcards packaging, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the light brown oval basket.",
+    "Grab the playingcards box with white symbols, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the blue carton for playingcards and drop it in the brown basket, then move the brown basket.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Grab the blue playingcards box, drop it in the woven basket, shift the woven basket.",
+    "Grab the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the basket with loop handle, shift the basket with loop handle.",
+    "Put the blue and white playingcards packaging in the light brown oval basket and pull the light brown oval basket away.",
+    "Place the blue pack holding playingcards into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the playingcards pack with blue top, put it inside the basket for carrying things.",
+    "Pick up the blue and white playingcards packaging, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Use one arm to place the card box with golden designs in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick up the blue and white playingcards packaging, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the playingcards pack with blue top, set it into the brown basket with woven ridges.",
+    "Pick and move the blue and white playingcards packaging, then shift the basket with loop handle.",
+    "Use one arm to grab the small playingcards container, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the blue carton for playingcards, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the oval-shaped basket with woven body.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Pick the blue playingcards box, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case and drop it in the oval-shaped basket with woven body.",
+    "Use one arm to place the blue and white playingcards packaging in the wooden basket with curved handle.",
+    "Move the blue carton for playingcards to the light brown oval basket, then shift the light brown oval basket.",
+    "Set the smooth playingcards holder in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Take the box of playingcards, set it in the basket with handle, shift the basket with handle lightly.",
+    "Lift the blue playingcards box, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Put the playingcards box with white symbols in the woven basket, then move the woven basket away slightly.",
+    "Pick the playingcards box with white symbols and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the playingcards box with white symbols, place it in the basket with handle.",
+    "Place the small playingcards container in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick up the smooth playingcards holder and set it inside the brown basket with woven ridges.",
+    "Lift the blue playingcards box, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the brown basket.",
+    "Grab the playingcards box with white symbols, place it in the woven basket, then move the woven basket away.",
+    "Pick up the blue and white playingcards packaging and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Grab the playingcards pack with blue top, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the small playingcards container, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket made of woven wood, shift the basket made of woven wood.",
+    "Put the blue pack holding playingcards in the basket for carrying things and pull the basket for carrying things away.",
+    "Place the small playingcards container into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the smooth playingcards holder, put it inside the basket for holding items.",
+    "Pick up the blue and white playingcards packaging, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Use one arm to place the card box with golden designs in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick up the rectangular blue playingcards case, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Grab the blue pack holding playingcards, set it into the basket with loop handle.",
+    "Pick and move the blue carton for playingcards, then shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the card box with golden designs, place it in the basket for holding items, then move the basket for holding items.",
+    "Grab the blue pack holding playingcards, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the brown basket.",
+    "Use the left arm to grab the blue playingcards box, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the card box with golden designs and drop it in the basket for carrying things.",
+    "Use one arm to place the playingcards box with white symbols in the basket with loop handle.",
+    "Move the smooth playingcards holder to the basket with loop handle, then shift the basket with loop handle.",
+    "Set the blue and white playingcards packaging in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Take the blue pack holding playingcards, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Lift the playingcards pack with blue top, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Put the smooth playingcards holder in the light brown oval basket, then move the light brown oval basket away slightly."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the blue playingcards box, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Set the blue playingcards box in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick up the card box with golden designs and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the playingcards box with white symbols, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick the playingcards box with white symbols, place it in the brown basket, shift the brown basket.",
+    "Grab the rectangular blue playingcards case, drop it in the basket with handle, shift the basket with handle.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with handle, adjust the basket with handle.",
+    "Move the palm-sized playingcards carton to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick up the rectangular blue playingcards case, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the basket made of woven wood.",
+    "Take the small playingcards container, put the small playingcards container into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Put the smooth playingcards holder in the basket with handle and pull the basket with handle away.",
+    "Pick the blue pack holding playingcards and position it in the brown basket, move the brown basket slightly.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the light brown oval basket.",
+    "Pick the playingcards box with white symbols, put it inside the brown basket with woven ridges.",
+    "Lift the rectangular blue playingcards case, place it into the basket with handle, move the basket with handle.",
+    "Place the blue playingcards box into the woven basket and push the woven basket slightly away.",
+    "Lift the rectangular blue playingcards case, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Lift the small playingcards container using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Grab the blue and white playingcards packaging, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the card box with golden designs and set it inside the basket with loop handle.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Use one arm to place the playingcards box with white symbols in the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards holder, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick and move the box of playingcards, then shift the basket made of woven wood.",
+    "Grab the blue carton for playingcards, drop it in the brown basket, then move the brown basket.",
+    "Put the box of playingcards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the blue and white playingcards packaging, set it into the brown basket.",
+    "Place the blue and white playingcards packaging in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick the playingcards pack with blue top, place it in the smooth ribbed light brown basket.",
+    "Grab the box of playingcards and drop it in the basket with handle.",
+    "Take the blue and white playingcards packaging, set it in the woven basket, shift the woven basket lightly.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Set the blue playingcards box in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the blue carton for playingcards, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Pick the smooth playingcards holder, place it in the basket for holding items, shift the basket for holding items.",
+    "Grab the card box with golden designs, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to place the blue playingcards box in the basket with handle, adjust the basket with handle.",
+    "Move the playingcards pack with blue top to the brown basket, then shift the brown basket.",
+    "Pick up the blue playingcards box, put it in the basket with handle, shift the basket with handle a little.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the brown basket.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket for holding items, shift the basket for holding items.",
+    "Pick the small playingcards container, drop the small playingcards container in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Put the small playingcards container in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick the box of playingcards and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the brown basket.",
+    "Pick the blue and white playingcards packaging, put it inside the basket with loop handle.",
+    "Lift the small playingcards container, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Place the card box with golden designs into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Lift the palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Lift the box of playingcards using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Grab the playingcards box with white symbols, place it in the brown basket, then move the brown basket away.",
+    "Pick up the blue carton for playingcards and set it inside the basket with handle.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the woven basket, and move the woven basket using the right arm.",
+    "Use one arm to place the box of playingcards in the basket with handle.",
+    "Grab the blue playingcards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick and move the box of playingcards, then shift the light brown oval basket.",
+    "Grab the blue and white playingcards packaging, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Put the small playingcards container in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the rectangular blue playingcards case, set it into the basket with loop handle.",
+    "Place the blue and white playingcards packaging in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick the box of playingcards, place it in the brown basket with woven ridges.",
+    "Grab the blue and white playingcards packaging and drop it in the basket made of woven wood.",
+    "Take the card box with golden designs, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Set the blue carton for playingcards in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the blue and white playingcards packaging and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the blue carton for playingcards, place it in the brown basket, grab the brown basket.",
+    "Pick the playingcards pack with blue top, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the box of playingcards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to place the playingcards pack with blue top in the basket for holding items, adjust the basket for holding items.",
+    "Move the rectangular blue playingcards case to the brown basket, then shift the brown basket.",
+    "Pick up the blue carton for playingcards, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the woven basket.",
+    "Take the small playingcards container, put the small playingcards container into the brown basket, shift the brown basket.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the brown basket, slide the brown basket lightly.",
+    "Put the blue carton for playingcards in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the playingcards pack with blue top and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the basket with loop handle.",
+    "Pick the palm-sized playingcards carton, put it inside the basket with loop handle.",
+    "Lift the playingcards pack with blue top, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Place the playingcards pack with blue top into the basket with handle and push the basket with handle slightly away.",
+    "Lift the blue and white playingcards packaging, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Grab the rectangular blue playingcards case, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Pick up the card box with golden designs and set it inside the basket with loop handle.",
+    "Use the left arm to grab the box of playingcards, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Use one arm to place the blue and white playingcards packaging in the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick and move the playingcards pack with blue top, then shift the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Put the palm-sized playingcards carton in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the palm-sized playingcards carton, set it into the smooth ribbed light brown basket.",
+    "Place the card box with golden designs in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the playingcards pack with blue top, place it in the woven basket.",
+    "Grab the blue playingcards box and drop it in the basket for holding items.",
+    "Take the rectangular blue playingcards case, set it in the woven basket, shift the woven basket lightly."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the blue and white playingcards packaging into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Use one arm to place the playingcards pack with blue top in the basket for holding items, adjust the basket for holding items.",
+    "Grab the blue and white playingcards packaging, set it into the basket for holding items.",
+    "Use one arm to place the palm-sized playingcards carton in the basket with handle.",
+    "Pick up the blue carton for playingcards and drop it in the brown basket, then move the brown basket.",
+    "Pick up the box of playingcards, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Put the blue and white playingcards packaging in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Pick the rectangular blue playingcards case, put it inside the smooth ribbed light brown basket.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick up the smooth playingcards holder, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the small playingcards container, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the blue playingcards box and set it inside the wooden basket with curved handle.",
+    "Set the palm-sized playingcards carton in the woven basket, and shift the woven basket away.",
+    "Grab the blue playingcards box, drop it in the brown basket, then move the brown basket.",
+    "Lift the card box with golden designs, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Lift the smooth playingcards holder, place it into the light brown oval basket, move the light brown oval basket.",
+    "Place the blue carton for playingcards in the basket for carrying things, then grab the basket for carrying things.",
+    "Grab the blue and white playingcards packaging and drop it in the brown basket with woven ridges.",
+    "Lift the blue and white playingcards packaging using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Pick and move the box of playingcards, then shift the smooth ribbed light brown basket.",
+    "Pick the small playingcards container and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Put the card box with golden designs in the basket for holding items and pull the basket for holding items away.",
+    "Pick the playingcards pack with blue top, place it in the brown basket.",
+    "Pick the box of playingcards, drop the box of playingcards in the woven basket, slide the woven basket lightly.",
+    "Take the box of playingcards, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the blue playingcards box, drop in the brown basket, and move the brown basket.",
+    "Grab the blue and white playingcards packaging, place it in the basket with handle, then move the basket with handle away.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the brown basket with woven ridges.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Move the playingcards box with white symbols to the light brown oval basket, then shift the light brown oval basket.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the card box with golden designs into the basket for holding items and push the basket for holding items slightly away.",
+    "Use one arm to place the blue and white playingcards packaging in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the small playingcards container, set it into the brown basket.",
+    "Use one arm to place the card box with golden designs in the basket with handle.",
+    "Pick up the smooth playingcards holder and drop it in the basket with handle, then move the basket with handle.",
+    "Pick up the smooth playingcards holder, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Put the blue and white playingcards packaging in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Pick the palm-sized playingcards carton, put it inside the oval-shaped basket with woven body.",
+    "Use the left arm to grab the card box with golden designs, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Pick up the playingcards box with white symbols, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the box of playingcards, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket made of woven wood.",
+    "Set the playingcards box with white symbols in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Grab the blue playingcards box, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the blue pack holding playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Lift the smooth playingcards holder, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Place the small playingcards container in the brown basket, then grab the brown basket.",
+    "Grab the blue pack holding playingcards and drop it in the brown basket.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Pick and move the blue playingcards box, then shift the basket with loop handle.",
+    "Pick the blue pack holding playingcards and position it in the woven basket, move the woven basket slightly.",
+    "Put the smooth playingcards holder in the light brown oval basket and pull the light brown oval basket away.",
+    "Pick the blue playingcards box, place it in the light brown oval basket.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Take the blue pack holding playingcards, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Use one arm to grab the card box with golden designs, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the playingcards box with white symbols, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Grab the palm-sized playingcards carton, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the smooth ribbed light brown basket.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the basket made of woven wood.",
+    "Grab the small playingcards container, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Move the rectangular blue playingcards case to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the playingcards box with white symbols into the basket for holding items and push the basket for holding items slightly away.",
+    "Use one arm to place the playingcards box with white symbols in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the blue carton for playingcards, set it into the smooth ribbed light brown basket.",
+    "Use one arm to place the blue carton for playingcards in the basket made of woven wood.",
+    "Pick up the smooth playingcards holder and drop it in the woven basket, then move the woven basket.",
+    "Pick up the smooth playingcards holder, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Put the box of playingcards in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Pick the blue carton for playingcards, put it inside the basket with loop handle.",
+    "Use the left arm to grab the blue playingcards box, place it in the woven basket, and move the woven basket using the right arm.",
+    "Pick up the blue carton for playingcards, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick the playingcards box with white symbols, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the blue carton for playingcards and set it inside the light brown oval basket.",
+    "Set the blue carton for playingcards in the basket for carrying things, and shift the basket for carrying things away.",
+    "Grab the card box with golden designs, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the playingcards box with white symbols, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Lift the palm-sized playingcards carton, place it into the light brown oval basket, move the light brown oval basket.",
+    "Place the blue pack holding playingcards in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box and drop it in the brown basket.",
+    "Lift the card box with golden designs using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the blue playingcards box, then shift the basket with loop handle.",
+    "Pick the smooth playingcards holder and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Put the card box with golden designs in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the basket with handle, slide the basket with handle lightly.",
+    "Take the box of playingcards, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to grab the card box with golden designs, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the small playingcards container, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Grab the blue carton for playingcards, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the basket made of woven wood.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the smooth ribbed light brown basket.",
+    "Grab the blue carton for playingcards, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Move the blue pack holding playingcards to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the basket with handle, shift the basket with handle.",
+    "Place the playingcards box with white symbols into the brown basket and push the brown basket slightly away."
+  ],
+  "unseen": [
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the blue pack holding playingcards, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the card box with golden designs, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Lift the blue playingcards box, place it into the basket for holding items, move the basket for holding items.",
+    "Pick up the blue carton for playingcards and set it inside the basket made of woven wood.",
+    "Grab the blue pack holding playingcards, set it into the woven basket.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the light brown oval basket.",
+    "Pick the rectangular blue playingcards case and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the light brown oval basket, shift the light brown oval basket.",
+    "Lift the playingcards box with white symbols, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Place the playingcards box with white symbols into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Grab the palm-sized playingcards carton, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the playingcards pack with blue top and drop it in the woven basket, then move the woven basket.",
+    "Use one arm to place the palm-sized playingcards carton in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Use one arm to grab the card box with golden designs, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick and move the box of playingcards, then shift the light brown oval basket.",
+    "Place the small playingcards container in the brown basket, then grab the brown basket.",
+    "Pick the palm-sized playingcards carton, put it inside the brown basket with woven ridges.",
+    "Put the card box with golden designs in the brown basket, then move the brown basket away slightly.",
+    "Pick up the playingcards box with white symbols, place it in the basket for holding items, grab the basket for holding items.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the wooden basket with curved handle.",
+    "Grab the playingcards box with white symbols, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the small playingcards container, place it in the basket with handle, then move the basket with handle away.",
+    "Lift the blue and white playingcards packaging using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Use one arm to place the blue playingcards box in the basket for carrying things.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Grab the small playingcards container and drop it in the light brown oval basket.",
+    "Move the box of playingcards to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Put the playingcards box with white symbols in the basket for holding items and pull the basket for holding items away.",
+    "Take the rectangular blue playingcards case, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the box of playingcards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Pick the rectangular blue playingcards case, place it in the smooth ribbed light brown basket.",
+    "Set the blue pack holding playingcards in the basket for holding items, and shift the basket for holding items away.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the blue pack holding playingcards, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Lift the blue pack holding playingcards, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick up the blue pack holding playingcards and set it inside the woven basket.",
+    "Grab the playingcards pack with blue top, set it into the smooth ribbed light brown basket.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the brown basket.",
+    "Pick the playingcards box with white symbols and position it in the basket with handle, move the basket with handle slightly.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket for holding items, shift the basket for holding items.",
+    "Lift the card box with golden designs, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Place the palm-sized playingcards carton into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Grab the playingcards pack with blue top, drop in the woven basket, and move the woven basket.",
+    "Pick up the rectangular blue playingcards case and drop it in the woven basket, then move the woven basket.",
+    "Use one arm to place the blue and white playingcards packaging in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Use one arm to grab the smooth playingcards holder, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick and move the blue carton for playingcards, then shift the basket made of woven wood.",
+    "Place the blue carton for playingcards in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the playingcards pack with blue top, put it inside the basket made of woven wood.",
+    "Put the playingcards pack with blue top in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Pick up the card box with golden designs, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the basket for holding items.",
+    "Grab the blue playingcards box, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the small playingcards container, place it in the basket for holding items, then move the basket for holding items away.",
+    "Lift the box of playingcards using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Use one arm to place the box of playingcards in the basket for carrying things.",
+    "Use the left arm to grab the box of playingcards, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Grab the rectangular blue playingcards case and drop it in the basket for carrying things.",
+    "Move the blue pack holding playingcards to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Put the rectangular blue playingcards case in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Take the smooth playingcards holder, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Pick up the card box with golden designs, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the blue carton for playingcards, place it in the brown basket.",
+    "Set the playingcards box with white symbols in the woven basket, and shift the woven basket away.",
+    "Pick the blue and white playingcards packaging, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols, drop it in the brown basket, shift the brown basket.",
+    "Lift the playingcards box with white symbols, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the playingcards pack with blue top and set it inside the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case, set it into the woven basket.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the light brown oval basket.",
+    "Pick the rectangular blue playingcards case and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the blue playingcards box, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Place the smooth playingcards holder into the basket with handle and push the basket with handle slightly away.",
+    "Grab the card box with golden designs, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick up the blue pack holding playingcards and drop it in the basket with handle, then move the basket with handle.",
+    "Use one arm to place the rectangular blue playingcards case in the woven basket, adjust the woven basket.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Use one arm to grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick and move the card box with golden designs, then shift the smooth ribbed light brown basket.",
+    "Place the blue pack holding playingcards in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick the smooth playingcards holder, put it inside the basket for carrying things.",
+    "Put the playingcards pack with blue top in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Pick up the card box with golden designs, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the playingcards pack with blue top, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Use one arm to place the smooth playingcards holder in the basket for holding items.",
+    "Use the left arm to grab the small playingcards container, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the palm-sized playingcards carton and drop it in the brown basket with woven ridges.",
+    "Move the playingcards box with white symbols to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Put the card box with golden designs in the basket for carrying things and pull the basket for carrying things away.",
+    "Take the palm-sized playingcards carton, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Pick up the rectangular blue playingcards case, put it in the basket with handle, shift the basket with handle a little.",
+    "Pick the blue and white playingcards packaging, place it in the basket made of woven wood.",
+    "Set the playingcards pack with blue top in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the blue and white playingcards packaging, place it in the basket with handle, shift the basket with handle."
+  ],
+  "unseen": [
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the playingcards box with white symbols using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Use one arm to place the small playingcards container in the basket made of woven wood.",
+    "Set the blue pack holding playingcards in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Grab the palm-sized playingcards carton, set it into the basket made of woven wood.",
+    "Place the playingcards pack with blue top into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the box of playingcards, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket for carrying things.",
+    "Grab the smooth playingcards holder, drop in the brown basket, and move the brown basket.",
+    "Pick up the playingcards pack with blue top and set it inside the basket with handle.",
+    "Pick the palm-sized playingcards carton and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Lift the playingcards box with white symbols, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick up the small playingcards container, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Take the blue playingcards box, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Grab the small playingcards container, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Use one arm to place the blue and white playingcards packaging in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Put the card box with golden designs in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Pick the blue playingcards box, place it in the woven basket.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the basket for holding items.",
+    "Grab the card box with golden designs, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Pick the palm-sized playingcards carton, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the small playingcards container and drop it in the wooden basket with curved handle.",
+    "Place the blue carton for playingcards in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the rectangular blue playingcards case, put it inside the basket for carrying things.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Move the blue carton for playingcards to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Put the blue pack holding playingcards in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick up the smooth playingcards holder, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Take the card box with golden designs, put the card box with golden designs into the basket for holding items, shift the basket for holding items.",
+    "Pick up the smooth playingcards holder and drop it in the woven basket, then move the woven basket.",
+    "Pick and move the playingcards box with white symbols, then shift the basket with loop handle.",
+    "Grab the small playingcards container, drop it in the brown basket, then move the brown basket.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Use one arm to place the smooth playingcards holder in the oval-shaped basket with woven body.",
+    "Set the palm-sized playingcards carton in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the smooth playingcards holder, set it into the basket made of woven wood.",
+    "Place the blue playingcards box into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Lift the blue and white playingcards packaging, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the basket for holding items.",
+    "Grab the smooth playingcards holder, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick up the card box with golden designs and set it inside the brown basket with woven ridges.",
+    "Pick the rectangular blue playingcards case and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Lift the blue playingcards box, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the small playingcards container, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Take the card box with golden designs, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Grab the smooth playingcards holder, drop it in the basket with handle, shift the basket with handle.",
+    "Use one arm to place the blue carton for playingcards in the basket with handle, adjust the basket with handle.",
+    "Put the palm-sized playingcards carton in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Pick the blue and white playingcards packaging, place it in the basket with loop handle.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the smooth ribbed light brown basket.",
+    "Grab the playingcards pack with blue top, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Pick the palm-sized playingcards carton, place it in the woven basket, shift the woven basket.",
+    "Grab the rectangular blue playingcards case and drop it in the oval-shaped basket with woven body.",
+    "Place the blue playingcards box in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the playingcards pack with blue top, put it inside the smooth ribbed light brown basket.",
+    "Use one arm to grab the small playingcards container, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the smooth playingcards holder to the light brown oval basket, then shift the light brown oval basket.",
+    "Put the small playingcards container in the basket with handle and pull the basket with handle away.",
+    "Pick up the palm-sized playingcards carton, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the playingcards pack with blue top and drop it in the brown basket, then move the brown basket.",
+    "Pick and move the blue pack holding playingcards, then shift the basket with handle.",
+    "Grab the palm-sized playingcards carton, drop it in the woven basket, then move the woven basket.",
+    "Lift the blue and white playingcards packaging using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use one arm to place the playingcards box with white symbols in the basket with handle.",
+    "Set the rectangular blue playingcards case in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Grab the card box with golden designs, set it into the basket with handle.",
+    "Place the blue pack holding playingcards into the basket with handle and push the basket with handle slightly away.",
+    "Lift the box of playingcards, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the basket made of woven wood.",
+    "Grab the playingcards box with white symbols, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the blue carton for playingcards and set it inside the brown basket.",
+    "Pick the palm-sized playingcards carton and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Lift the playingcards box with white symbols, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the rectangular blue playingcards case, put it in the basket with handle, shift the basket with handle a little.",
+    "Take the smooth playingcards holder, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the blue and white playingcards packaging in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Put the card box with golden designs in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Pick the card box with golden designs, place it in the wooden basket with curved handle.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the brown basket.",
+    "Grab the card box with golden designs, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the playingcards box with white symbols and drop it in the basket for holding items.",
+    "Place the card box with golden designs in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick the playingcards box with white symbols, put it inside the brown basket with woven ridges.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the basket with handle, then move the basket with handle.",
+    "Move the smooth playingcards holder to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Put the blue and white playingcards packaging in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the smooth playingcards holder, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Take the box of playingcards, put the box of playingcards into the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue carton for playingcards and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick and move the box of playingcards, then shift the basket for carrying things.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for holding items, then move the basket for holding items.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the brown basket, then push the brown basket via the right arm."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Lift the rectangular blue playingcards case, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Grab the blue playingcards box, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Grab the box of playingcards, drop it in the brown basket, then move the brown basket.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Grab the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Put the blue and white playingcards packaging in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Place the blue and white playingcards packaging into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Set the card box with golden designs in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the smooth ribbed light brown basket.",
+    "Lift the card box with golden designs, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Place the smooth playingcards holder in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the small playingcards container, place it in the wooden basket with curved handle.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the blue and white playingcards packaging, put it inside the brown basket with woven ridges.",
+    "Use one arm to place the blue carton for playingcards in the basket for holding items, adjust the basket for holding items.",
+    "Pick the card box with golden designs, place it in the woven basket, shift the woven basket.",
+    "Use one arm to place the playingcards pack with blue top in the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white symbols, set it into the brown basket.",
+    "Pick up the small playingcards container and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Put the blue carton for playingcards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the basket for holding items.",
+    "Pick and move the rectangular blue playingcards case, then shift the woven basket.",
+    "Pick the box of playingcards and position it in the woven basket, move the woven basket slightly.",
+    "Move the small playingcards container to the basket with handle, then shift the basket with handle.",
+    "Pick up the rectangular blue playingcards case and set it inside the brown basket.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket for holding items, then move the basket for holding items.",
+    "Grab the blue carton for playingcards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue and white playingcards packaging and drop it in the wooden basket with curved handle.",
+    "Pick up the smooth playingcards holder, place it in the basket with handle, grab the basket with handle.",
+    "Pick up the box of playingcards, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Take the palm-sized playingcards carton, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the basket for holding items, slide the basket for holding items lightly.",
+    "Lift the box of playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the box of playingcards, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Grab the palm-sized playingcards carton, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the small playingcards container using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the playingcards box with white symbols, place it in the basket for holding items, then move the basket for holding items away.",
+    "Put the palm-sized playingcards carton in the brown basket and pull the brown basket away.",
+    "Place the blue pack holding playingcards into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Set the rectangular blue playingcards case in the light brown oval basket, and shift the light brown oval basket away.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with handle.",
+    "Lift the card box with golden designs, place it into the basket for carrying things, move the basket for carrying things.",
+    "Place the smooth playingcards holder in the brown basket, then grab the brown basket.",
+    "Pick the small playingcards container, place it in the oval-shaped basket with woven body.",
+    "Take the box of playingcards, put the box of playingcards into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the playingcards pack with blue top, put it inside the basket for carrying things.",
+    "Use one arm to place the small playingcards container in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the blue and white playingcards packaging, place it in the basket with handle, shift the basket with handle.",
+    "Use one arm to place the box of playingcards in the basket for holding items.",
+    "Grab the small playingcards container, set it into the smooth ribbed light brown basket.",
+    "Pick up the card box with golden designs and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Put the blue pack holding playingcards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the basket with loop handle.",
+    "Pick and move the playingcards box with white symbols, then shift the basket for holding items.",
+    "Pick the smooth playingcards holder and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Move the playingcards pack with blue top to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick up the playingcards pack with blue top and set it inside the oval-shaped basket with woven body.",
+    "Use the left arm to grab the small playingcards container, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Use one arm to grab the small playingcards container, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the playingcards box with white symbols and drop it in the brown basket.",
+    "Pick up the blue and white playingcards packaging, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick up the blue carton for playingcards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Take the box of playingcards, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Lift the blue pack holding playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop in the basket for holding items, and move the basket for holding items.",
+    "Grab the smooth playingcards holder, drop it in the basket with handle, then move the basket with handle.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Grab the blue pack holding playingcards, place it in the brown basket, then move the brown basket away.",
+    "Put the rectangular blue playingcards case in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Place the rectangular blue playingcards case into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Set the smooth playingcards holder in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the brown basket with woven ridges.",
+    "Lift the rectangular blue playingcards case, place it into the basket for holding items, move the basket for holding items.",
+    "Place the blue pack holding playingcards in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick the blue pack holding playingcards, place it in the light brown oval basket.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the playingcards box with white symbols, put it inside the oval-shaped basket with woven body.",
+    "Use one arm to place the box of playingcards in the basket for carrying things, adjust the basket for carrying things.",
+    "Pick the blue and white playingcards packaging, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the palm-sized playingcards carton in the basket with handle.",
+    "Grab the card box with golden designs, set it into the brown basket with woven ridges.",
+    "Pick up the box of playingcards and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Put the blue carton for playingcards in the basket with handle, then move the basket with handle away slightly.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the woven basket.",
+    "Pick and move the playingcards box with white symbols, then shift the brown basket.",
+    "Pick the blue carton for playingcards and position it in the basket with handle, move the basket with handle slightly.",
+    "Move the palm-sized playingcards carton to the basket for carrying things, then shift the basket for carrying things.",
+    "Pick up the palm-sized playingcards carton and set it inside the brown basket with woven ridges.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the box of playingcards, drop it in the woven basket, shift the woven basket.",
+    "Grab the blue pack holding playingcards and drop it in the oval-shaped basket with woven body.",
+    "Pick up the smooth playingcards holder, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick up the rectangular blue playingcards case, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Take the blue playingcards box, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the woven basket, slide the woven basket lightly."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the box of playingcards in the basket with handle, then grab the basket with handle.",
+    "Grab the playingcards pack with blue top, drop in the brown basket, and move the brown basket.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the brown basket, then move the brown basket.",
+    "Take the blue playingcards box, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the blue carton for playingcards and drop it in the woven basket.",
+    "Pick up the playingcards box with white symbols and set it inside the basket for holding items.",
+    "Grab the smooth playingcards holder, drop it in the basket with handle, shift the basket with handle.",
+    "Pick up the small playingcards container and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Place the playingcards pack with blue top into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the card box with golden designs, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Use one arm to place the playingcards box with white symbols in the woven basket.",
+    "Grab the playingcards box with white symbols, place it in the woven basket, then move the woven basket away.",
+    "Grab the blue playingcards box, drop it in the woven basket, then move the woven basket.",
+    "Pick the blue and white playingcards packaging, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the card box with golden designs, put it in the woven basket, shift the woven basket a little.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Grab the playingcards box with white symbols, set it into the basket for holding items.",
+    "Pick the palm-sized playingcards carton, put it inside the light brown oval basket.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the basket with loop handle.",
+    "Move the rectangular blue playingcards case to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Lift the card box with golden designs, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Put the card box with golden designs in the light brown oval basket and pull the light brown oval basket away.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Pick up the playingcards pack with blue top, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Put the blue playingcards box in the brown basket, then move the brown basket away slightly.",
+    "Use one arm to place the playingcards box with white symbols in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick the smooth playingcards holder and position it in the woven basket, move the woven basket slightly.",
+    "Set the card box with golden designs in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick and move the blue and white playingcards packaging, then shift the oval-shaped basket with woven body.",
+    "Pick the blue playingcards box, place it in the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the brown basket with woven ridges.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the light brown oval basket, shift the light brown oval basket.",
+    "Lift the card box with golden designs using the left arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the right arm.",
+    "Place the blue and white playingcards packaging in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the blue and white playingcards packaging, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the woven basket, then move the woven basket.",
+    "Take the rectangular blue playingcards case, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the box of playingcards and drop it in the light brown oval basket.",
+    "Pick up the small playingcards container and set it inside the basket with loop handle.",
+    "Grab the playingcards pack with blue top, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the box of playingcards and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Place the smooth playingcards holder into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Lift the smooth playingcards holder, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Use one arm to place the blue pack holding playingcards in the basket for carrying things.",
+    "Grab the blue carton for playingcards, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Grab the playingcards box with white symbols, drop it in the woven basket, then move the woven basket.",
+    "Pick the playingcards box with white symbols, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick up the blue carton for playingcards, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick the box of playingcards, drop the box of playingcards in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the blue playingcards box, set it into the light brown oval basket.",
+    "Pick the smooth playingcards holder, put it inside the brown basket.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the basket for holding items.",
+    "Move the blue carton for playingcards to the brown basket, then shift the brown basket.",
+    "Lift the blue carton for playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Put the playingcards pack with blue top in the brown basket and pull the brown basket away.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Pick up the blue playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Put the blue carton for playingcards in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Use one arm to place the rectangular blue playingcards case in the woven basket, adjust the woven basket.",
+    "Pick the smooth playingcards holder and position it in the woven basket, move the woven basket slightly.",
+    "Set the blue and white playingcards packaging in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Pick and move the blue playingcards box, then shift the basket with loop handle.",
+    "Pick the box of playingcards, place it in the basket made of woven wood.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the light brown oval basket.",
+    "Take the small playingcards container, put the small playingcards container into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the blue playingcards box using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Place the blue pack holding playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards, drop in the brown basket, and move the brown basket.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the small playingcards container, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the blue playingcards box and drop it in the basket for holding items.",
+    "Pick up the box of playingcards and set it inside the brown basket with woven ridges.",
+    "Grab the card box with golden designs, drop it in the brown basket, shift the brown basket.",
+    "Pick up the rectangular blue playingcards case and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Place the playingcards pack with blue top into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the blue playingcards box, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Use one arm to place the card box with golden designs in the smooth ribbed light brown basket.",
+    "Grab the card box with golden designs, place it in the brown basket, then move the brown basket away.",
+    "Grab the small playingcards container, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick the rectangular blue playingcards case, place it in the woven basket, shift the woven basket.",
+    "Pick up the box of playingcards, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the brown basket, slide the brown basket lightly.",
+    "Grab the box of playingcards, set it into the basket made of woven wood.",
+    "Pick the small playingcards container, put it inside the wooden basket with curved handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the basket for holding items.",
+    "Move the blue pack holding playingcards to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Lift the box of playingcards, place it into the light brown oval basket, move the light brown oval basket.",
+    "Put the playingcards pack with blue top in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick up the blue playingcards box, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Put the playingcards box with white symbols in the woven basket, then move the woven basket away slightly.",
+    "Use one arm to place the playingcards box with white symbols in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the blue carton for playingcards and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Set the blue and white playingcards packaging in the woven basket, and shift the woven basket away.",
+    "Pick and move the box of playingcards, then shift the basket for holding items.",
+    "Pick the blue pack holding playingcards, place it in the basket with loop handle.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket with loop handle.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Place the blue playingcards box in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the smooth playingcards holder, put it inside the basket with handle.",
+    "Pick up the blue carton for playingcards, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Grab the smooth playingcards holder, drop it in the brown basket, shift the brown basket.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for holding items, shift the basket for holding items.",
+    "Grab the palm-sized playingcards carton, place it in the woven basket, then move the woven basket away.",
+    "Set the card box with golden designs in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Lift the playingcards box with white symbols, place it into the brown basket, move the brown basket.",
+    "Pick and move the box of playingcards, then shift the basket with handle.",
+    "Grab the blue pack holding playingcards, set it into the basket for holding items.",
+    "Place the palm-sized playingcards carton in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Pick the blue carton for playingcards and position it in the brown basket, move the brown basket slightly.",
+    "Place the blue and white playingcards packaging into the brown basket and push the brown basket slightly away.",
+    "Move the playingcards box with white symbols to the basket for holding items, then shift the basket for holding items.",
+    "Use the left arm to grab the card box with golden designs, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the smooth playingcards holder, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the box of playingcards, place it in the basket for carrying things.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Grab the smooth playingcards holder, drop in the basket for holding items, and move the basket for holding items.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the light brown oval basket.",
+    "Grab the card box with golden designs, drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the basket for holding items.",
+    "Pick up the smooth playingcards holder, place it in the basket with handle, grab the basket with handle.",
+    "Put the blue carton for playingcards in the basket with handle and pull the basket with handle away.",
+    "Grab the palm-sized playingcards carton and drop it in the basket for holding items.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket with loop handle.",
+    "Use one arm to place the small playingcards container in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Take the blue playingcards box, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use one arm to place the blue pack holding playingcards in the smooth ribbed light brown basket.",
+    "Put the blue pack holding playingcards in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Pick the card box with golden designs, put it inside the basket with handle.",
+    "Pick up the card box with golden designs, put it in the woven basket, shift the woven basket a little.",
+    "Grab the smooth playingcards holder, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the woven basket, then move the woven basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue and white playingcards packaging, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Set the blue and white playingcards packaging in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Lift the blue and white playingcards packaging, place it into the woven basket, move the woven basket.",
+    "Pick and move the rectangular blue playingcards case, then shift the wooden basket with curved handle.",
+    "Grab the playingcards box with white symbols, set it into the basket with loop handle.",
+    "Place the card box with golden designs in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the box of playingcards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Place the card box with golden designs into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Move the playingcards pack with blue top to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the blue playingcards box, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick the playingcards box with white symbols, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the small playingcards container, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the playingcards pack with blue top, place it in the basket for carrying things.",
+    "Lift the playingcards pack with blue top using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Grab the blue playingcards box, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the basket made of woven wood.",
+    "Grab the playingcards box with white symbols, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the brown basket.",
+    "Pick up the blue carton for playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Put the playingcards box with white symbols in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the playingcards pack with blue top and drop it in the basket made of woven wood.",
+    "Pick up the blue playingcards box and set it inside the basket for holding items.",
+    "Use one arm to place the playingcards box with white symbols in the light brown oval basket, adjust the light brown oval basket.",
+    "Take the small playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Use one arm to place the blue playingcards box in the oval-shaped basket with woven body.",
+    "Put the palm-sized playingcards carton in the basket with handle, then move the basket with handle away slightly.",
+    "Pick the blue and white playingcards packaging, put it inside the basket for carrying things.",
+    "Pick up the smooth playingcards holder, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the small playingcards container, drop it in the brown basket, shift the brown basket.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the basket for holding items, slide the basket for holding items lightly.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the card box with golden designs, place it in the basket for holding items, then move the basket for holding items away.",
+    "Set the blue and white playingcards packaging in the woven basket, and shift the woven basket away.",
+    "Lift the blue and white playingcards packaging, place it into the light brown oval basket, move the light brown oval basket.",
+    "Pick and move the palm-sized playingcards carton, then shift the basket made of woven wood.",
+    "Grab the blue pack holding playingcards, set it into the basket for holding items.",
+    "Place the card box with golden designs in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Pick the box of playingcards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Place the box of playingcards into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Move the blue and white playingcards packaging to the basket for carrying things, then shift the basket for carrying things.",
+    "Use the left arm to grab the small playingcards container, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Pick the box of playingcards, place it in the brown basket, shift the brown basket.",
+    "Lift the box of playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the blue carton for playingcards and drop it in the woven basket, then move the woven basket.",
+    "Pick the blue carton for playingcards, place it in the brown basket.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Grab the smooth playingcards holder, drop in the basket with handle, and move the basket with handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the wooden basket with curved handle.",
+    "Grab the playingcards box with white symbols, drop it in the brown basket, then move the brown basket.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Put the smooth playingcards holder in the basket with loop handle and pull the basket with loop handle away.",
+    "Grab the blue and white playingcards packaging and drop it in the wooden basket with curved handle.",
+    "Pick up the box of playingcards and set it inside the light brown oval basket.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Take the box of playingcards, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Use one arm to place the blue playingcards box in the basket with handle.",
+    "Put the smooth playingcards holder in the brown basket, then move the brown basket away slightly.",
+    "Pick the playingcards box with white symbols, put it inside the woven basket."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the palm-sized playingcards carton in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the smooth playingcards holder, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Pick up the smooth playingcards holder, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Lift the blue playingcards box, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Set the blue playingcards box in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the basket made of woven wood.",
+    "Grab the blue carton for playingcards and drop it in the basket made of woven wood.",
+    "Put the smooth playingcards holder in the basket for holding items, then move the basket for holding items away slightly.",
+    "Pick the blue pack holding playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the box of playingcards, place it in the brown basket.",
+    "Pick and move the card box with golden designs, then shift the basket for carrying things.",
+    "Grab the blue carton for playingcards, set it into the basket made of woven wood.",
+    "Pick up the card box with golden designs and set it inside the brown basket with woven ridges.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket.",
+    "Pick the playingcards box with white symbols, put it inside the wooden basket with curved handle.",
+    "Use one arm to grab the blue carton for playingcards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the basket with handle, shift the basket with handle.",
+    "Pick up the blue carton for playingcards and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the brown basket, and move the brown basket using the right arm.",
+    "Take the blue and white playingcards packaging, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Move the blue and white playingcards packaging to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Place the blue pack holding playingcards into the basket with handle and push the basket with handle slightly away.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white symbols, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the box of playingcards, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the playingcards pack with blue top, drop it in the basket with handle, shift the basket with handle.",
+    "Use one arm to place the box of playingcards in the basket with loop handle, adjust the basket with loop handle.",
+    "Place the box of playingcards in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the small playingcards container, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the small playingcards container, place it in the basket for holding items, shift the basket for holding items.",
+    "Lift the blue carton for playingcards, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Lift the small playingcards container using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Put the playingcards box with white symbols in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the playingcards box with white symbols, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick up the box of playingcards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Lift the blue playingcards box, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Set the blue playingcards box in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the woven basket.",
+    "Grab the box of playingcards and drop it in the woven basket.",
+    "Put the smooth playingcards holder in the brown basket, then move the brown basket away slightly.",
+    "Pick the blue carton for playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the rectangular blue playingcards case, place it in the wooden basket with curved handle.",
+    "Pick and move the rectangular blue playingcards case, then shift the wooden basket with curved handle.",
+    "Grab the smooth playingcards holder, set it into the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket made of woven wood.",
+    "Use one arm to place the small playingcards container in the basket for carrying things.",
+    "Pick the box of playingcards, put it inside the wooden basket with curved handle.",
+    "Use one arm to grab the blue carton for playingcards, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue playingcards box and drop it in the brown basket, then move the brown basket.",
+    "Use the left arm to grab the blue playingcards box, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Take the box of playingcards, set it in the basket with handle, shift the basket with handle lightly.",
+    "Move the blue and white playingcards packaging to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Place the smooth playingcards holder into the basket for holding items and push the basket for holding items slightly away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick up the playingcards box with white symbols, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the small playingcards container, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the blue and white playingcards packaging in the basket for carrying things, adjust the basket for carrying things.",
+    "Place the playingcards pack with blue top in the basket for carrying things, then grab the basket for carrying things.",
+    "Grab the playingcards box with white symbols, drop it in the woven basket, then move the woven basket.",
+    "Pick the playingcards box with white symbols, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the box of playingcards, place it into the basket for holding items, move the basket for holding items.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Put the rectangular blue playingcards case in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the rectangular blue playingcards case, place it in the basket with handle, then move the basket with handle away.",
+    "Pick up the playingcards box with white symbols, put it in the woven basket, shift the woven basket a little.",
+    "Lift the blue pack holding playingcards, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Set the palm-sized playingcards carton in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the wooden basket with curved handle.",
+    "Grab the box of playingcards and drop it in the basket for carrying things.",
+    "Put the card box with golden designs in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Pick the palm-sized playingcards carton and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick the palm-sized playingcards carton, place it in the oval-shaped basket with woven body.",
+    "Pick and move the playingcards pack with blue top, then shift the wooden basket with curved handle.",
+    "Grab the palm-sized playingcards carton, set it into the basket made of woven wood.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket made of woven wood.",
+    "Use one arm to place the blue carton for playingcards in the basket with loop handle.",
+    "Pick the rectangular blue playingcards case, put it inside the woven basket.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the woven basket, then move the woven basket.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the basket for holding items, shift the basket for holding items.",
+    "Pick up the smooth playingcards holder and drop it in the brown basket, then move the brown basket.",
+    "Use the left arm to grab the blue playingcards box, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Take the blue carton for playingcards, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Move the blue playingcards box to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the basket for holding items, slide the basket for holding items lightly.",
+    "Place the playingcards pack with blue top into the brown basket and push the brown basket slightly away.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the woven basket.",
+    "Grab the blue pack holding playingcards, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick up the blue playingcards box, place it in the brown basket, grab the brown basket.",
+    "Grab the small playingcards container, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Use one arm to place the card box with golden designs in the brown basket, adjust the brown basket.",
+    "Place the palm-sized playingcards carton in the basket with loop handle, then grab the basket with loop handle.",
+    "Grab the playingcards box with white symbols, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick the rectangular blue playingcards case, place it in the basket for holding items, shift the basket for holding items.",
+    "Lift the palm-sized playingcards carton, place it into the brown basket, move the brown basket.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Put the smooth playingcards holder in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away."
+  ],
+  "unseen": [
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the playingcards box with white symbols, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the small playingcards container, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Take the card box with golden designs, put the card box with golden designs into the brown basket, shift the brown basket.",
+    "Pick the playingcards pack with blue top and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Grab the smooth playingcards holder, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the card box with golden designs in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Set the rectangular blue playingcards case in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Use one arm to place the playingcards pack with blue top in the basket for holding items.",
+    "Pick up the rectangular blue playingcards case and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Take the playingcards box with white symbols, set it in the basket with handle, shift the basket with handle lightly.",
+    "Pick the small playingcards container, drop the small playingcards container in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Pick up the blue playingcards box, place it in the basket for holding items, grab the basket for holding items.",
+    "Use the left arm to grab the small playingcards container, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Move the playingcards box with white symbols to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the palm-sized playingcards carton, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the basket for carrying things.",
+    "Pick and move the blue and white playingcards packaging, then shift the light brown oval basket.",
+    "Pick the rectangular blue playingcards case, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the card box with golden designs and drop it in the brown basket.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Pick up the playingcards box with white symbols, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the palm-sized playingcards carton, place it in the basket for holding items.",
+    "Grab the playingcards pack with blue top, set it into the basket made of woven wood.",
+    "Pick the card box with golden designs, put it inside the oval-shaped basket with woven body.",
+    "Put the box of playingcards in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the brown basket with woven ridges.",
+    "Pick up the blue pack holding playingcards and set it inside the light brown oval basket.",
+    "Use one arm to place the box of playingcards in the basket with loop handle, adjust the basket with loop handle.",
+    "Place the blue carton for playingcards into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the woven basket, then move the woven basket.",
+    "Lift the box of playingcards, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Put the smooth playingcards holder in the brown basket, then move the brown basket away slightly.",
+    "Grab the small playingcards container, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, drop it in the basket for holding items, then move the basket for holding items.",
+    "Lift the box of playingcards, place it into the light brown oval basket, move the light brown oval basket.",
+    "Take the blue playingcards box, put the blue playingcards box into the light brown oval basket, shift the light brown oval basket.",
+    "Pick the palm-sized playingcards carton and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Grab the blue and white playingcards packaging, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the rectangular blue playingcards case in the light brown oval basket, then grab the light brown oval basket.",
+    "Set the smooth playingcards holder in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Use one arm to place the blue pack holding playingcards in the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards and drop it in the basket with handle, then move the basket with handle.",
+    "Take the card box with golden designs, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Pick up the playingcards box with white symbols, place it in the brown basket, grab the brown basket.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Move the playingcards pack with blue top to the basket for carrying things, then shift the basket for carrying things.",
+    "Grab the smooth playingcards holder, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the wooden basket with curved handle.",
+    "Pick and move the blue playingcards box, then shift the wooden basket with curved handle.",
+    "Pick the card box with golden designs, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the palm-sized playingcards carton and drop it in the woven basket.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick up the box of playingcards, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the small playingcards container, place it in the oval-shaped basket with woven body.",
+    "Grab the small playingcards container, set it into the brown basket with woven ridges.",
+    "Pick the box of playingcards, put it inside the brown basket with woven ridges.",
+    "Put the rectangular blue playingcards case in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket with loop handle.",
+    "Pick up the blue pack holding playingcards and set it inside the light brown oval basket.",
+    "Use one arm to place the card box with golden designs in the basket with loop handle, adjust the basket with loop handle.",
+    "Place the rectangular blue playingcards case into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Use one arm to grab the box of playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Lift the blue playingcards box, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Put the blue and white playingcards packaging in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the blue and white playingcards packaging, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Grab the blue and white playingcards packaging, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the palm-sized playingcards carton, place it into the brown basket, move the brown basket.",
+    "Take the blue playingcards box, put the blue playingcards box into the light brown oval basket, shift the light brown oval basket.",
+    "Pick the palm-sized playingcards carton and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the box of playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Set the playingcards box with white symbols in the basket for carrying things, and shift the basket for carrying things away.",
+    "Use one arm to place the palm-sized playingcards carton in the basket for holding items.",
+    "Pick up the blue pack holding playingcards and drop it in the woven basket, then move the woven basket.",
+    "Take the blue carton for playingcards, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the woven basket, slide the woven basket lightly.",
+    "Pick up the blue pack holding playingcards, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Use the left arm to grab the card box with golden designs, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Move the playingcards pack with blue top to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Grab the small playingcards container, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the woven basket.",
+    "Pick and move the smooth playingcards holder, then shift the basket for holding items.",
+    "Pick the blue and white playingcards packaging, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the blue playingcards box and drop it in the basket with loop handle.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Pick up the playingcards box with white symbols, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Pick the small playingcards container, place it in the woven basket.",
+    "Grab the rectangular blue playingcards case, set it into the basket with loop handle.",
+    "Pick the smooth playingcards holder, put it inside the smooth ribbed light brown basket.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the basket made of woven wood.",
+    "Pick up the playingcards pack with blue top and set it inside the wooden basket with curved handle.",
+    "Use one arm to place the blue pack holding playingcards in the basket for carrying things, adjust the basket for carrying things.",
+    "Place the card box with golden designs into the woven basket and push the woven basket slightly away.",
+    "Use one arm to grab the card box with golden designs, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Lift the small playingcards container, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Put the playingcards box with white symbols in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the smooth playingcards holder, drop in the woven basket, and move the woven basket.",
+    "Grab the playingcards pack with blue top, drop it in the basket with loop handle, then move the basket with loop handle."
+  ],
+  "unseen": [
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket with handle.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Put the blue playingcards box in the basket for carrying things and pull the basket for carrying things away.",
+    "Use one arm to place the blue pack holding playingcards in the basket with loop handle.",
+    "Use one arm to place the blue pack holding playingcards in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the blue carton for playingcards, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick the palm-sized playingcards carton and position it in the woven basket, move the woven basket slightly.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the basket with loop handle.",
+    "Put the playingcards box with white symbols in the brown basket, then move the brown basket away slightly.",
+    "Grab the small playingcards container, set it into the basket with handle.",
+    "Grab the blue playingcards box, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket with loop handle.",
+    "Pick and move the blue pack holding playingcards, then shift the oval-shaped basket with woven body.",
+    "Pick up the small playingcards container and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Place the blue carton for playingcards into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the playingcards box with white symbols, put it inside the woven basket.",
+    "Take the blue pack holding playingcards, set it in the brown basket, shift the brown basket lightly.",
+    "Take the card box with golden designs, put the card box with golden designs into the basket with loop handle, shift the basket with loop handle.",
+    "Lift the palm-sized playingcards carton, place it into the basket for carrying things, move the basket for carrying things.",
+    "Grab the box of playingcards, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Grab the blue playingcards box, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Place the smooth playingcards holder in the basket with loop handle, then grab the basket with loop handle.",
+    "Lift the blue playingcards box using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Grab the blue carton for playingcards and drop it in the oval-shaped basket with woven body.",
+    "Pick up the palm-sized playingcards carton, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Move the playingcards box with white symbols to the basket for holding items, then shift the basket for holding items.",
+    "Pick the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the blue playingcards box, put it in the brown basket, shift the brown basket a little.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the small playingcards container, place it in the oval-shaped basket with woven body.",
+    "Set the box of playingcards in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Lift the smooth playingcards holder, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the basket for carrying things.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Put the rectangular blue playingcards case in the basket with handle and pull the basket with handle away.",
+    "Use one arm to place the card box with golden designs in the basket for carrying things.",
+    "Use one arm to place the blue and white playingcards packaging in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards, drop it in the woven basket, shift the woven basket.",
+    "Pick the palm-sized playingcards carton and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the basket for carrying things.",
+    "Put the box of playingcards in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the palm-sized playingcards carton, set it into the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick up the card box with golden designs and set it inside the basket with loop handle.",
+    "Pick and move the playingcards box with white symbols, then shift the brown basket.",
+    "Pick up the blue carton for playingcards and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Place the smooth playingcards holder into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the playingcards pack with blue top, put it inside the smooth ribbed light brown basket.",
+    "Take the smooth playingcards holder, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Take the box of playingcards, put the box of playingcards into the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the blue and white playingcards packaging, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the smooth playingcards holder, drop in the woven basket, and move the woven basket.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Place the smooth playingcards holder in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Grab the playingcards box with white symbols and drop it in the light brown oval basket.",
+    "Pick up the smooth playingcards holder, place it in the brown basket, grab the brown basket.",
+    "Move the playingcards pack with blue top to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick the blue playingcards box, place it in the brown basket, shift the brown basket.",
+    "Pick up the blue carton for playingcards, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Use one arm to grab the smooth playingcards holder, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the blue carton for playingcards, place it in the brown basket with woven ridges.",
+    "Set the playingcards box with white symbols in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Lift the blue and white playingcards packaging, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the basket for holding items.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Put the blue and white playingcards packaging in the light brown oval basket and pull the light brown oval basket away.",
+    "Use one arm to place the palm-sized playingcards carton in the woven basket.",
+    "Use one arm to place the playingcards pack with blue top in the woven basket, adjust the woven basket.",
+    "Grab the playingcards box with white symbols, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the blue playingcards box and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the smooth ribbed light brown basket.",
+    "Put the smooth playingcards holder in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Grab the blue and white playingcards packaging, set it into the brown basket with woven ridges.",
+    "Grab the rectangular blue playingcards case, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the box of playingcards and set it inside the basket with loop handle.",
+    "Pick and move the rectangular blue playingcards case, then shift the light brown oval basket.",
+    "Pick up the smooth playingcards holder and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Place the box of playingcards into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Pick the rectangular blue playingcards case, put it inside the brown basket with woven ridges.",
+    "Take the rectangular blue playingcards case, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Take the small playingcards container, put the small playingcards container into the woven basket, shift the woven basket.",
+    "Lift the playingcards pack with blue top, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Grab the box of playingcards, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Grab the smooth playingcards holder, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Place the card box with golden designs in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Lift the blue playingcards box using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Grab the rectangular blue playingcards case and drop it in the light brown oval basket.",
+    "Pick up the blue playingcards box, place it in the basket with handle, grab the basket with handle.",
+    "Move the card box with golden designs to the woven basket, then shift the woven basket.",
+    "Pick the blue playingcards box, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to grab the box of playingcards, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the playingcards box with white symbols, place it in the wooden basket with curved handle.",
+    "Set the palm-sized playingcards carton in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Lift the blue carton for playingcards, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the basket for holding items."
+  ],
+  "unseen": [
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the box of playingcards, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Grab the card box with golden designs, set it into the brown basket with woven ridges.",
+    "Lift the playingcards box with white symbols, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Lift the card box with golden designs using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Move the blue carton for playingcards to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Pick the small playingcards container, place it in the basket with handle.",
+    "Place the palm-sized playingcards carton in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the basket with loop handle.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the brown basket with woven ridges.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Take the blue playingcards box, put the blue playingcards box into the woven basket, shift the woven basket.",
+    "Pick and move the blue and white playingcards packaging, then shift the basket with handle.",
+    "Grab the playingcards box with white symbols, drop in the woven basket, and move the woven basket.",
+    "Grab the blue playingcards box, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the palm-sized playingcards carton and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick the blue pack holding playingcards, put it inside the oval-shaped basket with woven body.",
+    "Use one arm to place the small playingcards container in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the blue playingcards box and set it inside the basket for holding items.",
+    "Put the blue carton for playingcards in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Pick the small playingcards container, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the blue and white playingcards packaging into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Lift the blue pack holding playingcards, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the palm-sized playingcards carton and drop it in the brown basket.",
+    "Take the playingcards pack with blue top, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Grab the smooth playingcards holder, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Put the blue pack holding playingcards in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick up the playingcards box with white symbols and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the blue pack holding playingcards, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Set the smooth playingcards holder in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to place the blue pack holding playingcards in the woven basket.",
+    "Pick up the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the blue pack holding playingcards, set it into the brown basket with woven ridges.",
+    "Lift the playingcards box with white symbols, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Lift the small playingcards container using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the basket with handle, slide the basket with handle lightly.",
+    "Move the blue playingcards box to the basket for holding items, then shift the basket for holding items.",
+    "Pick the palm-sized playingcards carton, place it in the basket for carrying things.",
+    "Place the blue pack holding playingcards in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the light brown oval basket.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket with handle.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the basket with handle, shift the basket with handle.",
+    "Pick and move the smooth playingcards holder, then shift the light brown oval basket.",
+    "Grab the playingcards box with white symbols, drop in the basket for holding items, and move the basket for holding items.",
+    "Grab the blue carton for playingcards, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the card box with golden designs and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick the box of playingcards, put it inside the woven basket.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with handle, adjust the basket with handle.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket for carrying things.",
+    "Put the blue carton for playingcards in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Pick the small playingcards container, place it in the basket with handle, shift the basket with handle.",
+    "Place the blue playingcards box into the basket with handle and push the basket with handle slightly away.",
+    "Lift the blue and white playingcards packaging, place it into the brown basket, move the brown basket.",
+    "Grab the playingcards pack with blue top and drop it in the woven basket.",
+    "Take the small playingcards container, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Grab the smooth playingcards holder, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Put the rectangular blue playingcards case in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the playingcards pack with blue top and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the palm-sized playingcards carton, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Set the blue pack holding playingcards in the basket with handle, and shift the basket with handle away.",
+    "Use one arm to place the small playingcards container in the basket for holding items.",
+    "Pick up the palm-sized playingcards carton, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, set it into the oval-shaped basket with woven body.",
+    "Lift the small playingcards container, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Lift the small playingcards container using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "Pick the card box with golden designs, place it in the light brown oval basket.",
+    "Place the palm-sized playingcards carton in the basket for holding items, then grab the basket for holding items.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the woven basket.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the brown basket with woven ridges.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the woven basket, and move the woven basket using the right arm.",
+    "Use one arm to grab the blue carton for playingcards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the basket for holding items, shift the basket for holding items.",
+    "Pick and move the blue carton for playingcards, then shift the woven basket.",
+    "Grab the blue playingcards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case, drop it in the woven basket, then move the woven basket.",
+    "Pick the smooth playingcards holder and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick the playingcards box with white symbols, put it inside the smooth ribbed light brown basket.",
+    "Use one arm to place the smooth playingcards holder in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick up the box of playingcards and set it inside the basket for carrying things.",
+    "Put the card box with golden designs in the woven basket, then move the woven basket away slightly.",
+    "Pick the playingcards pack with blue top, place it in the basket for holding items, shift the basket for holding items.",
+    "Place the blue playingcards box into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Lift the playingcards box with white symbols, place it into the brown basket, move the brown basket.",
+    "Grab the playingcards pack with blue top and drop it in the basket for carrying things.",
+    "Take the blue carton for playingcards, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Grab the playingcards box with white symbols, place it in the basket with handle, then move the basket with handle away.",
+    "Put the box of playingcards in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick up the playingcards box with white symbols and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the blue carton for playingcards, drop it in the brown basket, shift the brown basket.",
+    "Pick up the palm-sized playingcards carton, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Set the card box with golden designs in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Use one arm to place the blue pack holding playingcards in the brown basket.",
+    "Pick up the blue pack holding playingcards, place it in the woven basket, grab the woven basket."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode20.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue playingcards box using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Pick the blue playingcards box, place it in the woven basket, shift the woven basket.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the basket with handle.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Move the small playingcards container to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick and move the palm-sized playingcards carton, then shift the brown basket.",
+    "Put the blue carton for playingcards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the box of playingcards and drop it in the basket made of woven wood.",
+    "Pick up the box of playingcards, put it in the basket with handle, shift the basket with handle a little.",
+    "Lift the rectangular blue playingcards case, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Place the palm-sized playingcards carton in the brown basket, then grab the brown basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket for carrying things.",
+    "Grab the playingcards pack with blue top, place it in the basket with handle, then move the basket with handle away.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with loop handle.",
+    "Take the palm-sized playingcards carton, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Grab the smooth playingcards holder, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Use one arm to grab the box of playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the rectangular blue playingcards case and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick the card box with golden designs, place it in the wooden basket with curved handle.",
+    "Pick up the blue pack holding playingcards and set it inside the basket for carrying things.",
+    "Pick the blue pack holding playingcards, put it inside the basket with handle.",
+    "Grab the smooth playingcards holder, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Place the smooth playingcards holder into the woven basket and push the woven basket slightly away.",
+    "Use the left arm to grab the small playingcards container, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick up the rectangular blue playingcards case, place it in the brown basket, grab the brown basket.",
+    "Put the smooth playingcards holder in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the blue pack holding playingcards, set it into the brown basket with woven ridges.",
+    "Set the rectangular blue playingcards case in the basket for holding items, and shift the basket for holding items away.",
+    "Lift the blue playingcards box, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the smooth playingcards holder, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the smooth playingcards holder in the basket with handle, adjust the basket with handle.",
+    "Pick up the playingcards pack with blue top and drop it in the basket for holding items, then move the basket for holding items.",
+    "Lift the box of playingcards using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Pick the card box with golden designs, place it in the brown basket, shift the brown basket.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the basket with loop handle.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Move the rectangular blue playingcards case to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the basket for carrying things, shift the basket for carrying things.",
+    "Pick and move the blue playingcards box, then shift the basket with handle.",
+    "Put the smooth playingcards holder in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the blue carton for playingcards and drop it in the light brown oval basket.",
+    "Pick up the palm-sized playingcards carton, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Lift the rectangular blue playingcards case, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Place the blue and white playingcards packaging in the basket with loop handle, then grab the basket with loop handle.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the basket for carrying things.",
+    "Grab the blue pack holding playingcards, place it in the basket with handle, then move the basket with handle away.",
+    "Use one arm to place the blue pack holding playingcards in the basket made of woven wood.",
+    "Take the smooth playingcards holder, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the small playingcards container, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the card box with golden designs and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Pick up the smooth playingcards holder and set it inside the basket for holding items.",
+    "Pick the smooth playingcards holder, put it inside the basket with loop handle.",
+    "Grab the blue carton for playingcards, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Place the palm-sized playingcards carton into the brown basket and push the brown basket slightly away.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick up the blue carton for playingcards, place it in the woven basket, grab the woven basket.",
+    "Put the rectangular blue playingcards case in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the blue playingcards box, set it into the light brown oval basket.",
+    "Set the blue pack holding playingcards in the light brown oval basket, and shift the light brown oval basket away.",
+    "Lift the blue carton for playingcards, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Grab the palm-sized playingcards carton, drop it in the basket with handle, shift the basket with handle.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the smooth playingcards holder and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the small playingcards container using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick the small playingcards container, place it in the woven basket, shift the woven basket.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the wooden basket with curved handle.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Move the playingcards box with white symbols to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Take the card box with golden designs, put the card box with golden designs into the basket for holding items, shift the basket for holding items.",
+    "Pick and move the playingcards box with white symbols, then shift the basket with handle.",
+    "Put the playingcards pack with blue top in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the playingcards box with white symbols and drop it in the basket with handle.",
+    "Pick up the small playingcards container, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Lift the playingcards pack with blue top, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Place the card box with golden designs in the woven basket, then grab the woven basket.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket for holding items.",
+    "Grab the blue pack holding playingcards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Use one arm to place the blue playingcards box in the smooth ribbed light brown basket.",
+    "Take the blue pack holding playingcards, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the playingcards box with white symbols, drop in the woven basket, and move the woven basket.",
+    "Use one arm to grab the blue carton for playingcards, place it in the woven basket, then move the woven basket.",
+    "Pick the playingcards box with white symbols and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick the blue playingcards box, place it in the basket for carrying things.",
+    "Pick up the rectangular blue playingcards case and set it inside the oval-shaped basket with woven body.",
+    "Pick the card box with golden designs, put it inside the basket for holding items.",
+    "Grab the blue and white playingcards packaging, drop it in the basket with handle, then move the basket with handle.",
+    "Place the rectangular blue playingcards case into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick up the playingcards box with white symbols, place it in the basket with handle, grab the basket with handle.",
+    "Put the playingcards box with white symbols in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Grab the blue carton for playingcards, set it into the woven basket.",
+    "Set the playingcards box with white symbols in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Lift the blue pack holding playingcards, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Grab the blue pack holding playingcards, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to place the playingcards pack with blue top in the woven basket, adjust the woven basket.",
+    "Pick up the box of playingcards and drop it in the woven basket, then move the woven basket.",
+    "Lift the playingcards pack with blue top using the left arm, drop it in the brown basket, then push the brown basket via the right arm."
+  ],
+  "unseen": [
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode21.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the card box with golden designs, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Place the rectangular blue playingcards case into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Lift the blue pack holding playingcards, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket for carrying things, shift the basket for carrying things.",
+    "Pick the rectangular blue playingcards case and position it in the brown basket, move the brown basket slightly.",
+    "Place the playingcards box with white symbols in the basket for holding items, then grab the basket for holding items.",
+    "Move the smooth playingcards holder to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick up the blue playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Use one arm to grab the smooth playingcards holder, place it in the woven basket, then move the woven basket.",
+    "Grab the blue playingcards box, drop in the woven basket, and move the woven basket.",
+    "Put the palm-sized playingcards carton in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Use one arm to place the box of playingcards in the brown basket, adjust the brown basket.",
+    "Grab the small playingcards container, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Put the playingcards box with white symbols in the brown basket and pull the brown basket away.",
+    "Pick the blue carton for playingcards, put it inside the light brown oval basket.",
+    "Take the blue playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the blue playingcards box and drop it in the wooden basket with curved handle.",
+    "Use one arm to place the playingcards box with white symbols in the basket with handle.",
+    "Set the blue pack holding playingcards in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick up the card box with golden designs and set it inside the oval-shaped basket with woven body.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, set it into the basket for carrying things.",
+    "Pick and move the box of playingcards, then shift the woven basket.",
+    "Pick up the card box with golden designs, put it in the woven basket, shift the woven basket a little.",
+    "Lift the playingcards box with white symbols, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick up the playingcards pack with blue top and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Grab the blue and white playingcards packaging, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the blue playingcards box, place it in the basket with handle.",
+    "Use the left arm to grab the box of playingcards, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the brown basket.",
+    "Grab the small playingcards container, drop it in the woven basket, shift the woven basket.",
+    "Place the playingcards pack with blue top into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the palm-sized playingcards carton, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the blue playingcards box and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Place the rectangular blue playingcards case in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Move the smooth playingcards holder to the basket for carrying things, then shift the basket for carrying things.",
+    "Pick up the small playingcards container, place it in the basket for holding items, grab the basket for holding items.",
+    "Use one arm to grab the blue playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the card box with golden designs, drop in the brown basket, and move the brown basket.",
+    "Put the box of playingcards in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Use one arm to place the playingcards pack with blue top in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the rectangular blue playingcards case, place it in the brown basket, then move the brown basket away.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Put the palm-sized playingcards carton in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick the playingcards pack with blue top, put it inside the light brown oval basket.",
+    "Take the smooth playingcards holder, set it in the woven basket, shift the woven basket lightly.",
+    "Pick the palm-sized playingcards carton, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the box of playingcards and drop it in the basket for holding items.",
+    "Use one arm to place the smooth playingcards holder in the wooden basket with curved handle.",
+    "Set the small playingcards container in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick up the box of playingcards and set it inside the basket for holding items.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the basket for holding items.",
+    "Grab the playingcards pack with blue top, set it into the smooth ribbed light brown basket.",
+    "Pick and move the box of playingcards, then shift the basket for carrying things.",
+    "Pick up the palm-sized playingcards carton, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Lift the blue carton for playingcards, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick up the playingcards box with white symbols and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Grab the blue playingcards box, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with handle.",
+    "Grab the playingcards pack with blue top, drop it in the woven basket, shift the woven basket.",
+    "Place the blue pack holding playingcards into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Lift the small playingcards container, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Take the box of playingcards, put the box of playingcards into the woven basket, shift the woven basket.",
+    "Pick the smooth playingcards holder and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Place the blue and white playingcards packaging in the basket with handle, then grab the basket with handle.",
+    "Move the rectangular blue playingcards case to the light brown oval basket, then shift the light brown oval basket.",
+    "Pick up the playingcards box with white symbols, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Put the smooth playingcards holder in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Use one arm to place the blue pack holding playingcards in the basket with loop handle, adjust the basket with loop handle.",
+    "Grab the palm-sized playingcards carton, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Put the smooth playingcards holder in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick the playingcards pack with blue top, put it inside the wooden basket with curved handle.",
+    "Take the blue pack holding playingcards, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Pick the card box with golden designs, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the blue playingcards box and drop it in the basket with loop handle.",
+    "Use one arm to place the blue pack holding playingcards in the basket with handle.",
+    "Set the palm-sized playingcards carton in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick up the blue pack holding playingcards and set it inside the smooth ribbed light brown basket.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards holder, set it into the oval-shaped basket with woven body.",
+    "Pick and move the blue pack holding playingcards, then shift the basket for holding items.",
+    "Pick up the card box with golden designs, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Lift the rectangular blue playingcards case, place it into the basket with handle, move the basket with handle.",
+    "Pick up the palm-sized playingcards carton and drop it in the woven basket, then move the woven basket.",
+    "Lift the card box with golden designs using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Grab the playingcards pack with blue top, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the woven basket.",
+    "Grab the small playingcards container, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode22.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue carton for playingcards, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the woven basket, slide the woven basket lightly.",
+    "Grab the card box with golden designs, drop it in the woven basket, then move the woven basket.",
+    "Pick the box of playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Put the palm-sized playingcards carton in the basket with handle and pull the basket with handle away.",
+    "Pick and move the blue carton for playingcards, then shift the basket for holding items.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the basket for holding items.",
+    "Grab the blue carton for playingcards, set it into the woven basket.",
+    "Pick the blue playingcards box, place it in the basket made of woven wood.",
+    "Put the blue playingcards box in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Use the left arm to grab the card box with golden designs, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Pick up the smooth playingcards holder, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Lift the blue playingcards box using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Grab the smooth playingcards holder, drop in the basket with handle, and move the basket with handle.",
+    "Pick up the card box with golden designs, place it in the basket for holding items, grab the basket for holding items.",
+    "Place the small playingcards container in the brown basket, then grab the brown basket.",
+    "Pick up the smooth playingcards holder and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Lift the blue playingcards box, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick the blue pack holding playingcards, place it in the brown basket, shift the brown basket.",
+    "Use one arm to place the card box with golden designs in the basket with handle, adjust the basket with handle.",
+    "Use one arm to grab the box of playingcards, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Take the palm-sized playingcards carton, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Place the playingcards pack with blue top into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick up the blue pack holding playingcards and set it inside the woven basket.",
+    "Lift the box of playingcards, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Take the card box with golden designs, put the card box with golden designs into the basket for holding items, shift the basket for holding items.",
+    "Use one arm to place the palm-sized playingcards carton in the brown basket with woven ridges.",
+    "Set the small playingcards container in the woven basket, and shift the woven basket away.",
+    "Move the playingcards pack with blue top to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Pick the blue playingcards box, put it inside the basket for carrying things.",
+    "Grab the rectangular blue playingcards case and drop it in the light brown oval basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the brown basket.",
+    "Grab the blue playingcards box, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the palm-sized playingcards carton, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the palm-sized playingcards carton and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Put the small playingcards container in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick and move the playingcards box with white symbols, then shift the woven basket.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the oval-shaped basket with woven body.",
+    "Grab the card box with golden designs, set it into the basket for holding items.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket with woven ridges.",
+    "Put the blue pack holding playingcards in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Pick up the blue carton for playingcards, put it in the basket with handle, shift the basket with handle a little.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Grab the card box with golden designs, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the blue and white playingcards packaging, place it in the basket with handle, grab the basket with handle.",
+    "Place the palm-sized playingcards carton in the basket with handle, then grab the basket with handle.",
+    "Pick up the rectangular blue playingcards case and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the blue playingcards box, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick the smooth playingcards holder, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to place the palm-sized playingcards carton in the light brown oval basket, adjust the light brown oval basket.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the brown basket, then move the brown basket.",
+    "Take the blue carton for playingcards, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Place the playingcards box with white symbols into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick up the smooth playingcards holder and set it inside the light brown oval basket.",
+    "Lift the smooth playingcards holder, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Take the small playingcards container, put the small playingcards container into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the blue and white playingcards packaging in the oval-shaped basket with woven body.",
+    "Set the blue playingcards box in the basket for holding items, and shift the basket for holding items away.",
+    "Move the palm-sized playingcards carton to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white symbols, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Pick the box of playingcards, put it inside the basket with handle.",
+    "Grab the blue carton for playingcards and drop it in the basket made of woven wood.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket made of woven wood.",
+    "Grab the playingcards pack with blue top, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the small playingcards container, drop the small playingcards container in the basket with handle, slide the basket with handle lightly.",
+    "Grab the small playingcards container, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the card box with golden designs and position it in the woven basket, move the woven basket slightly.",
+    "Put the blue playingcards box in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick and move the blue carton for playingcards, then shift the brown basket with woven ridges.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards holder, set it into the woven basket.",
+    "Pick the small playingcards container, place it in the brown basket with woven ridges.",
+    "Put the playingcards box with white symbols in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Pick up the blue pack holding playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Lift the small playingcards container using the left arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the right arm.",
+    "Grab the playingcards pack with blue top, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick up the smooth playingcards holder, place it in the basket with handle, grab the basket with handle.",
+    "Place the palm-sized playingcards carton in the basket for holding items, then grab the basket for holding items.",
+    "Pick up the card box with golden designs and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Lift the palm-sized playingcards carton, place it into the light brown oval basket, move the light brown oval basket.",
+    "Pick the smooth playingcards holder, place it in the basket with handle, shift the basket with handle.",
+    "Use one arm to place the small playingcards container in the brown basket, adjust the brown basket.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Take the playingcards pack with blue top, set it in the basket with handle, shift the basket with handle lightly.",
+    "Place the rectangular blue playingcards case into the woven basket and push the woven basket slightly away.",
+    "Pick up the rectangular blue playingcards case and set it inside the light brown oval basket.",
+    "Lift the blue and white playingcards packaging, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Take the box of playingcards, put the box of playingcards into the light brown oval basket, shift the light brown oval basket.",
+    "Use one arm to place the blue pack holding playingcards in the basket with loop handle.",
+    "Set the small playingcards container in the basket with loop handle, and shift the basket with loop handle away.",
+    "Move the blue carton for playingcards to the basket with handle, then shift the basket with handle.",
+    "Grab the smooth playingcards holder, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick the palm-sized playingcards carton, put it inside the brown basket with woven ridges.",
+    "Grab the blue pack holding playingcards and drop it in the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode23.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small playingcards container, drop in the brown basket, and move the brown basket.",
+    "Put the small playingcards container in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket, adjust the brown basket.",
+    "Pick the blue playingcards box and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Set the playingcards pack with blue top in the basket for carrying things, and shift the basket for carrying things away.",
+    "Grab the blue pack holding playingcards, set it into the basket made of woven wood.",
+    "Pick up the blue pack holding playingcards and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the smooth playingcards holder, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Place the card box with golden designs into the basket for holding items and push the basket for holding items slightly away.",
+    "Grab the blue and white playingcards packaging and drop it in the brown basket.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the blue carton for playingcards in the basket with handle.",
+    "Grab the blue pack holding playingcards, drop it in the basket with handle, then move the basket with handle.",
+    "Pick and move the box of playingcards, then shift the basket for holding items.",
+    "Pick the palm-sized playingcards carton, place it in the woven basket, shift the woven basket.",
+    "Pick the small playingcards container, place it in the wooden basket with curved handle.",
+    "Use one arm to grab the smooth playingcards holder, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the card box with golden designs, place it in the brown basket, then move the brown basket away.",
+    "Grab the blue and white playingcards packaging, drop it in the woven basket, shift the woven basket.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the brown basket, slide the brown basket lightly.",
+    "Lift the card box with golden designs, place it into the light brown oval basket, move the light brown oval basket.",
+    "Pick the playingcards pack with blue top, put it inside the brown basket.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the brown basket with woven ridges.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Pick up the playingcards pack with blue top, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the basket with loop handle.",
+    "Pick up the blue and white playingcards packaging and set it inside the light brown oval basket.",
+    "Take the playingcards pack with blue top, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Lift the blue playingcards box using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Place the blue playingcards box in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Move the blue carton for playingcards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Pick up the palm-sized playingcards carton, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the blue and white playingcards packaging, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Put the blue carton for playingcards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Use one arm to place the playingcards pack with blue top in the basket for holding items, adjust the basket for holding items.",
+    "Pick the smooth playingcards holder and position it in the woven basket, move the woven basket slightly.",
+    "Set the smooth playingcards holder in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Grab the blue carton for playingcards, set it into the wooden basket with curved handle.",
+    "Pick up the blue and white playingcards packaging and drop it in the woven basket, then move the woven basket.",
+    "Lift the smooth playingcards holder, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Place the rectangular blue playingcards case into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the palm-sized playingcards carton and drop it in the basket made of woven wood.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket for holding items, shift the basket for holding items.",
+    "Use one arm to place the rectangular blue playingcards case in the basket for holding items.",
+    "Grab the card box with golden designs, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick and move the blue and white playingcards packaging, then shift the woven basket.",
+    "Pick the playingcards box with white symbols, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the playingcards box with white symbols, place it in the oval-shaped basket with woven body.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the playingcards pack with blue top, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the rectangular blue playingcards case, drop it in the woven basket, shift the woven basket.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Lift the blue and white playingcards packaging, place it into the basket with handle, move the basket with handle.",
+    "Pick the rectangular blue playingcards case, put it inside the basket made of woven wood.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the woven basket.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the woven basket, and move the woven basket using the right arm.",
+    "Pick up the small playingcards container, put it in the basket with handle, shift the basket with handle a little.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket for holding items.",
+    "Pick up the smooth playingcards holder and set it inside the basket for carrying things.",
+    "Take the blue pack holding playingcards, set it in the woven basket, shift the woven basket lightly.",
+    "Put the blue playingcards box in the woven basket and pull the woven basket away.",
+    "Lift the playingcards pack with blue top using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Place the playingcards pack with blue top in the light brown oval basket, then grab the light brown oval basket.",
+    "Move the rectangular blue playingcards case to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Pick up the box of playingcards, place it in the basket for holding items, grab the basket for holding items.",
+    "Grab the palm-sized playingcards carton, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Put the small playingcards container in the brown basket, then move the brown basket away slightly.",
+    "Use one arm to place the blue and white playingcards packaging in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the rectangular blue playingcards case and position it in the brown basket, move the brown basket slightly.",
+    "Set the playingcards pack with blue top in the basket with handle, and shift the basket with handle away.",
+    "Grab the playingcards box with white symbols, set it into the basket with handle.",
+    "Pick up the blue playingcards box and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the box of playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Place the blue carton for playingcards into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the palm-sized playingcards carton and drop it in the smooth ribbed light brown basket.",
+    "Take the box of playingcards, put the box of playingcards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the blue playingcards box in the basket made of woven wood.",
+    "Grab the palm-sized playingcards carton, drop it in the brown basket, then move the brown basket.",
+    "Pick and move the blue carton for playingcards, then shift the smooth ribbed light brown basket.",
+    "Pick the blue pack holding playingcards, place it in the woven basket, shift the woven basket.",
+    "Pick the blue carton for playingcards, place it in the light brown oval basket.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the blue and white playingcards packaging, place it in the basket with handle, then move the basket with handle away.",
+    "Grab the blue playingcards box, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Lift the blue pack holding playingcards, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick the blue pack holding playingcards, put it inside the basket for holding items.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the wooden basket with curved handle.",
+    "Use the left arm to grab the box of playingcards, place it in the woven basket, and move the woven basket using the right arm.",
+    "Pick up the playingcards pack with blue top, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the woven basket.",
+    "Pick up the blue pack holding playingcards and set it inside the woven basket.",
+    "Take the blue pack holding playingcards, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Put the blue carton for playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Lift the card box with golden designs using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Place the blue and white playingcards packaging in the basket for holding items, then grab the basket for holding items.",
+    "Move the palm-sized playingcards carton to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick up the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards holder, drop in the basket for holding items, and move the basket for holding items."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode24.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the palm-sized playingcards carton, set it into the wooden basket with curved handle.",
+    "Grab the blue carton for playingcards, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick the blue and white playingcards packaging, place it in the oval-shaped basket with woven body.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the blue and white playingcards packaging, place it in the basket for holding items, grab the basket for holding items.",
+    "Place the blue playingcards box into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the blue carton for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Use one arm to grab the card box with golden designs, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the box of playingcards, drop the box of playingcards in the woven basket, slide the woven basket lightly.",
+    "Pick and move the playingcards pack with blue top, then shift the woven basket.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket for holding items.",
+    "Grab the blue and white playingcards packaging, drop in the basket for holding items, and move the basket for holding items.",
+    "Use one arm to place the palm-sized playingcards carton in the brown basket, adjust the brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick up the blue and white playingcards packaging, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the playingcards box with white symbols, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Set the playingcards pack with blue top in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Put the smooth playingcards holder in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Place the rectangular blue playingcards case in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Move the playingcards pack with blue top to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Pick the playingcards pack with blue top, put it inside the oval-shaped basket with woven body.",
+    "Pick up the playingcards box with white symbols and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the palm-sized playingcards carton and drop it in the light brown oval basket.",
+    "Use one arm to place the blue playingcards box in the oval-shaped basket with woven body.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the brown basket.",
+    "Put the palm-sized playingcards carton in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Lift the blue carton for playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick the card box with golden designs and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Take the palm-sized playingcards carton, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the smooth playingcards holder and set it inside the woven basket.",
+    "Grab the playingcards box with white symbols, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Grab the palm-sized playingcards carton, set it into the light brown oval basket.",
+    "Grab the card box with golden designs, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the blue and white playingcards packaging, place it in the brown basket with woven ridges.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket with handle, shift the basket with handle.",
+    "Pick up the blue pack holding playingcards, place it in the basket for holding items, grab the basket for holding items.",
+    "Place the blue playingcards box into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Use the left arm to grab the box of playingcards, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Lift the box of playingcards, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Use one arm to grab the small playingcards container, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the woven basket, slide the woven basket lightly.",
+    "Pick and move the smooth playingcards holder, then shift the oval-shaped basket with woven body.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop in the basket for holding items, and move the basket for holding items.",
+    "Use one arm to place the rectangular blue playingcards case in the woven basket, adjust the woven basket.",
+    "Pick the playingcards pack with blue top, place it in the basket with handle, shift the basket with handle.",
+    "Pick up the blue pack holding playingcards, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the card box with golden designs, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Set the box of playingcards in the basket with loop handle, and shift the basket with loop handle away.",
+    "Put the blue pack holding playingcards in the brown basket, then move the brown basket away slightly.",
+    "Place the box of playingcards in the light brown oval basket, then grab the light brown oval basket.",
+    "Move the rectangular blue playingcards case to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Lift the small playingcards container using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Pick the blue pack holding playingcards, put it inside the basket with loop handle.",
+    "Pick up the box of playingcards and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the card box with golden designs and drop it in the oval-shaped basket with woven body.",
+    "Use one arm to place the small playingcards container in the basket for holding items.",
+    "Use the left arm to pick the card box with golden designs, then use the right arm for the brown basket.",
+    "Put the small playingcards container in the light brown oval basket and pull the light brown oval basket away.",
+    "Lift the blue carton for playingcards, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the blue pack holding playingcards and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Take the playingcards box with white symbols, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the blue carton for playingcards and set it inside the basket for holding items.",
+    "Grab the playingcards pack with blue top, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Grab the blue and white playingcards packaging, set it into the light brown oval basket.",
+    "Grab the smooth playingcards holder, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick the card box with golden designs, place it in the woven basket.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the rectangular blue playingcards case, place it in the basket with handle, grab the basket with handle.",
+    "Place the small playingcards container into the basket with handle and push the basket with handle slightly away.",
+    "Use the left arm to grab the small playingcards container, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Lift the palm-sized playingcards carton, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Use one arm to grab the box of playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the basket with handle, slide the basket with handle lightly.",
+    "Pick and move the card box with golden designs, then shift the basket made of woven wood.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging, drop in the basket with handle, and move the basket with handle.",
+    "Use one arm to place the blue carton for playingcards in the basket with handle, adjust the basket with handle.",
+    "Pick the palm-sized playingcards carton, place it in the woven basket, shift the woven basket.",
+    "Pick up the small playingcards container, put it in the woven basket, shift the woven basket a little.",
+    "Grab the blue and white playingcards packaging, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Set the blue pack holding playingcards in the basket for holding items, and shift the basket for holding items away.",
+    "Put the blue and white playingcards packaging in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Place the blue pack holding playingcards in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Move the palm-sized playingcards carton to the basket for holding items, then shift the basket for holding items.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick the blue pack holding playingcards, put it inside the basket for holding items.",
+    "Pick up the small playingcards container and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the box of playingcards and drop it in the woven basket.",
+    "Use one arm to place the smooth playingcards holder in the oval-shaped basket with woven body.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the wooden basket with curved handle.",
+    "Put the blue and white playingcards packaging in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Lift the small playingcards container, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick the blue carton for playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Take the card box with golden designs, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the blue carton for playingcards and set it inside the brown basket.",
+    "Grab the smooth playingcards holder, place it in the basket for holding items, then move the basket for holding items away.",
+    "Grab the palm-sized playingcards carton, set it into the basket for holding items."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode25.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue pack holding playingcards, set it into the light brown oval basket.",
+    "Grab the palm-sized playingcards carton and drop it in the brown basket.",
+    "Pick up the blue playingcards box, place it in the woven basket, grab the woven basket.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Move the blue carton for playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Pick the blue and white playingcards packaging, put it inside the basket with handle.",
+    "Pick the blue carton for playingcards, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the rectangular blue playingcards case in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Set the rectangular blue playingcards case in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick the blue carton for playingcards and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket, then move the brown basket.",
+    "Lift the small playingcards container using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use the left arm to pick the card box with golden designs, then use the right arm for the light brown oval basket.",
+    "Use one arm to place the box of playingcards in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Take the small playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Lift the blue pack holding playingcards, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick up the blue playingcards box and drop it in the woven basket, then move the woven basket.",
+    "Place the blue pack holding playingcards in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Place the playingcards pack with blue top into the basket for holding items and push the basket for holding items slightly away.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Grab the blue pack holding playingcards, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the playingcards box with white symbols and set it inside the basket with loop handle.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Use one arm to place the blue playingcards box in the woven basket.",
+    "Lift the rectangular blue playingcards case, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Take the small playingcards container, put the small playingcards container into the basket with handle, shift the basket with handle.",
+    "Pick up the card box with golden designs, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick and move the blue playingcards box, then shift the basket with loop handle.",
+    "Grab the blue carton for playingcards, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Grab the rectangular blue playingcards case, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Put the playingcards pack with blue top in the basket for carrying things and pull the basket for carrying things away.",
+    "Grab the playingcards box with white symbols, set it into the smooth ribbed light brown basket.",
+    "Grab the playingcards pack with blue top and drop it in the brown basket.",
+    "Pick up the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick the blue and white playingcards packaging, place it in the basket for holding items.",
+    "Move the rectangular blue playingcards case to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick the playingcards pack with blue top, put it inside the brown basket with woven ridges.",
+    "Pick the palm-sized playingcards carton, place it in the basket for holding items, shift the basket for holding items.",
+    "Put the small playingcards container in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Set the box of playingcards in the brown basket, and shift the brown basket away.",
+    "Pick the card box with golden designs and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the woven basket, then move the woven basket.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the basket for carrying things.",
+    "Use one arm to place the blue carton for playingcards in the woven basket, adjust the woven basket.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Take the blue playingcards box, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Lift the palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Place the blue playingcards box in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Place the playingcards pack with blue top into the basket with handle and push the basket with handle slightly away.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Grab the card box with golden designs, drop it in the woven basket, shift the woven basket.",
+    "Pick up the playingcards pack with blue top and set it inside the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the woven basket.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the blue pack holding playingcards in the basket made of woven wood.",
+    "Lift the palm-sized playingcards carton, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Take the box of playingcards, put the box of playingcards into the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the playingcards box with white symbols, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Pick and move the card box with golden designs, then shift the basket for holding items.",
+    "Grab the playingcards box with white symbols, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the palm-sized playingcards carton, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Put the playingcards pack with blue top in the basket with loop handle and pull the basket with loop handle away.",
+    "Grab the palm-sized playingcards carton, set it into the wooden basket with curved handle.",
+    "Grab the palm-sized playingcards carton and drop it in the basket made of woven wood.",
+    "Pick up the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick the blue and white playingcards packaging, place it in the light brown oval basket.",
+    "Move the card box with golden designs to the woven basket, then shift the woven basket.",
+    "Pick the card box with golden designs, put it inside the basket for holding items.",
+    "Pick the palm-sized playingcards carton, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Put the rectangular blue playingcards case in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Set the blue carton for playingcards in the basket with handle, and shift the basket with handle away.",
+    "Pick the blue playingcards box and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Use one arm to grab the box of playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the blue playingcards box using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the smooth ribbed light brown basket.",
+    "Use one arm to place the palm-sized playingcards carton in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Take the blue pack holding playingcards, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Lift the card box with golden designs, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick up the box of playingcards and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Place the box of playingcards in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Place the blue pack holding playingcards into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Grab the smooth playingcards holder, drop it in the woven basket, shift the woven basket.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket with loop handle.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the basket with handle.",
+    "Grab the blue pack holding playingcards, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to place the blue playingcards box in the oval-shaped basket with woven body.",
+    "Lift the palm-sized playingcards carton, place it into the light brown oval basket, move the light brown oval basket.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the playingcards pack with blue top, put it in the basket with handle, shift the basket with handle a little.",
+    "Pick and move the playingcards box with white symbols, then shift the brown basket with woven ridges.",
+    "Grab the blue pack holding playingcards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the blue and white playingcards packaging, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Put the card box with golden designs in the basket with handle and pull the basket with handle away.",
+    "Grab the blue playingcards box, set it into the brown basket with woven ridges."
+  ],
+  "unseen": [
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode26.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the small playingcards container, then use the right arm for the basket for holding items.",
+    "Pick the card box with golden designs and position it in the woven basket, move the woven basket slightly.",
+    "Put the blue and white playingcards packaging in the basket for holding items and pull the basket for holding items away.",
+    "Move the box of playingcards to the light brown oval basket, then shift the light brown oval basket.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the brown basket, and move the brown basket using the right arm.",
+    "Lift the card box with golden designs, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Grab the box of playingcards, drop in the woven basket, and move the woven basket.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Use one arm to place the blue playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Use one arm to place the smooth playingcards holder in the basket made of woven wood.",
+    "Grab the blue playingcards box, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Pick up the box of playingcards, place it in the basket for holding items, grab the basket for holding items.",
+    "Place the blue carton for playingcards into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the smooth ribbed light brown basket.",
+    "Pick the rectangular blue playingcards case, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the basket made of woven wood, shift the basket made of woven wood.",
+    "Put the rectangular blue playingcards case in the woven basket, then move the woven basket away slightly.",
+    "Pick the playingcards box with white symbols, put it inside the woven basket.",
+    "Take the box of playingcards, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the card box with golden designs, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick the palm-sized playingcards carton, place it in the smooth ribbed light brown basket.",
+    "Grab the box of playingcards and drop it in the basket made of woven wood.",
+    "Set the blue and white playingcards packaging in the basket with loop handle, and shift the basket with loop handle away.",
+    "Lift the blue carton for playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the blue playingcards box, drop it in the brown basket, then move the brown basket.",
+    "Pick and move the smooth playingcards holder, then shift the basket with handle.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the palm-sized playingcards carton and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the smooth playingcards holder, set it into the basket made of woven wood.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket with handle.",
+    "Place the small playingcards container in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Grab the rectangular blue playingcards case, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Lift the small playingcards container using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the brown basket with woven ridges.",
+    "Pick the blue playingcards box and position it in the woven basket, move the woven basket slightly.",
+    "Put the smooth playingcards holder in the basket with loop handle and pull the basket with loop handle away.",
+    "Move the smooth playingcards holder to the woven basket, then shift the woven basket.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the card box with golden designs, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Grab the blue and white playingcards packaging, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Use one arm to place the palm-sized playingcards carton in the basket for holding items, adjust the basket for holding items.",
+    "Use one arm to place the blue and white playingcards packaging in the brown basket.",
+    "Grab the playingcards pack with blue top, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the box of playingcards, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Place the card box with golden designs into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket, shift the brown basket.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue carton for playingcards in the woven basket, then move the woven basket away slightly.",
+    "Pick the palm-sized playingcards carton, put it inside the basket with handle.",
+    "Take the card box with golden designs, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the card box with golden designs, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick the blue pack holding playingcards, place it in the basket for carrying things.",
+    "Grab the blue and white playingcards packaging and drop it in the basket for holding items.",
+    "Set the blue playingcards box in the basket with handle, and shift the basket with handle away.",
+    "Lift the rectangular blue playingcards case, place it into the light brown oval basket, move the light brown oval basket.",
+    "Grab the box of playingcards, drop it in the brown basket, then move the brown basket.",
+    "Pick and move the blue playingcards box, then shift the basket for holding items.",
+    "Use one arm to grab the card box with golden designs, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the blue and white playingcards packaging and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the palm-sized playingcards carton, set it into the woven basket.",
+    "Pick up the card box with golden designs and set it inside the smooth ribbed light brown basket.",
+    "Place the palm-sized playingcards carton in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the basket made of woven wood.",
+    "Pick the box of playingcards and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Put the rectangular blue playingcards case in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Move the card box with golden designs to the basket with handle, then shift the basket with handle.",
+    "Use the left arm to grab the box of playingcards, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Lift the small playingcards container, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Grab the playingcards pack with blue top, drop in the basket with handle, and move the basket with handle.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket for holding items, slide the basket for holding items lightly.",
+    "Use one arm to place the small playingcards container in the woven basket, adjust the woven basket.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with loop handle.",
+    "Grab the playingcards box with white symbols, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick up the blue playingcards box, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Place the blue pack holding playingcards into the brown basket and push the brown basket slightly away.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the basket for holding items.",
+    "Pick the blue carton for playingcards, place it in the woven basket, shift the woven basket.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the rectangular blue playingcards case in the woven basket, then move the woven basket away slightly.",
+    "Pick the box of playingcards, put it inside the brown basket with woven ridges.",
+    "Take the playingcards pack with blue top, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick up the playingcards pack with blue top, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the small playingcards container, place it in the light brown oval basket.",
+    "Grab the blue pack holding playingcards and drop it in the woven basket.",
+    "Set the rectangular blue playingcards case in the basket with handle, and shift the basket with handle away.",
+    "Lift the box of playingcards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Grab the blue pack holding playingcards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick and move the playingcards box with white symbols, then shift the basket for carrying things.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the blue playingcards box and drop it in the brown basket, then move the brown basket.",
+    "Grab the blue carton for playingcards, set it into the oval-shaped basket with woven body.",
+    "Pick up the small playingcards container and set it inside the wooden basket with curved handle.",
+    "Place the blue and white playingcards packaging in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the blue playingcards box, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode27.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the card box with golden designs and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the small playingcards container and drop it in the basket made of woven wood.",
+    "Use one arm to place the box of playingcards in the basket with handle.",
+    "Pick the playingcards box with white symbols and position it in the brown basket, move the brown basket slightly.",
+    "Use the left arm to grab the card box with golden designs, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the basket for holding items.",
+    "Put the playingcards pack with blue top in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Take the palm-sized playingcards carton, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the blue playingcards box, set it into the basket with loop handle.",
+    "Place the blue playingcards box into the woven basket and push the woven basket slightly away.",
+    "Pick up the blue carton for playingcards, place it in the basket with handle, grab the basket with handle.",
+    "Move the blue and white playingcards packaging to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Grab the blue carton for playingcards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the brown basket with woven ridges.",
+    "Pick the box of playingcards, drop the box of playingcards in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Pick the smooth playingcards holder, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue and white playingcards packaging and set it inside the brown basket.",
+    "Pick and move the blue playingcards box, then shift the light brown oval basket.",
+    "Place the palm-sized playingcards carton in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick the blue and white playingcards packaging, place it in the woven basket.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the right arm.",
+    "Pick the small playingcards container, put it inside the brown basket.",
+    "Put the blue pack holding playingcards in the brown basket, then move the brown basket away slightly.",
+    "Grab the playingcards box with white symbols, drop in the brown basket, and move the brown basket.",
+    "Lift the playingcards box with white symbols, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Set the blue carton for playingcards in the brown basket, and shift the brown basket away.",
+    "Use one arm to grab the card box with golden designs, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Take the blue playingcards box, put the blue playingcards box into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the rectangular blue playingcards case, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Grab the small playingcards container, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick up the blue playingcards box, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Grab the blue carton for playingcards, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the blue pack holding playingcards in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the card box with golden designs and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the playingcards pack with blue top and drop it in the basket for carrying things.",
+    "Use one arm to place the playingcards pack with blue top in the basket with loop handle.",
+    "Pick the blue playingcards box and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Use the left arm to grab the box of playingcards, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the basket made of woven wood.",
+    "Put the playingcards pack with blue top in the basket with loop handle and pull the basket with loop handle away.",
+    "Take the playingcards box with white symbols, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the small playingcards container, set it into the brown basket with woven ridges.",
+    "Place the playingcards box with white symbols into the basket with handle and push the basket with handle slightly away.",
+    "Pick up the rectangular blue playingcards case, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Move the smooth playingcards holder to the basket for holding items, then shift the basket for holding items.",
+    "Grab the blue carton for playingcards, drop it in the brown basket, shift the brown basket.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the wooden basket with curved handle.",
+    "Pick the box of playingcards, drop the box of playingcards in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Pick the palm-sized playingcards carton, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the blue carton for playingcards and set it inside the brown basket with woven ridges.",
+    "Pick and move the playingcards box with white symbols, then shift the woven basket.",
+    "Place the card box with golden designs in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the card box with golden designs, place it in the woven basket.",
+    "Lift the small playingcards container using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick the box of playingcards, put it inside the oval-shaped basket with woven body.",
+    "Put the playingcards box with white symbols in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the rectangular blue playingcards case, drop in the woven basket, and move the woven basket.",
+    "Lift the blue playingcards box, place it into the light brown oval basket, move the light brown oval basket.",
+    "Set the smooth playingcards holder in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Use one arm to grab the box of playingcards, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket with loop handle, shift the basket with loop handle.",
+    "Lift the palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Grab the blue playingcards box, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Pick up the rectangular blue playingcards case, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the box of playingcards, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the playingcards pack with blue top in the basket for carrying things, adjust the basket for carrying things.",
+    "Pick up the small playingcards container and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the playingcards pack with blue top and drop it in the basket with handle.",
+    "Use one arm to place the small playingcards container in the light brown oval basket.",
+    "Pick the smooth playingcards holder and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Use the left arm to grab the blue playingcards box, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the smooth ribbed light brown basket.",
+    "Put the playingcards pack with blue top in the light brown oval basket and pull the light brown oval basket away.",
+    "Take the playingcards box with white symbols, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the card box with golden designs, set it into the basket with loop handle.",
+    "Place the blue pack holding playingcards into the brown basket and push the brown basket slightly away.",
+    "Pick up the rectangular blue playingcards case, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Move the blue playingcards box to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the playingcards pack with blue top, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the brown basket.",
+    "Pick the small playingcards container, drop the small playingcards container in the basket with handle, slide the basket with handle lightly.",
+    "Pick the blue playingcards box, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the box of playingcards and set it inside the basket with loop handle.",
+    "Pick and move the rectangular blue playingcards case, then shift the basket for holding items.",
+    "Place the smooth playingcards holder in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Pick the blue pack holding playingcards, place it in the wooden basket with curved handle.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick the box of playingcards, put it inside the brown basket.",
+    "Put the blue pack holding playingcards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the playingcards pack with blue top, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Lift the playingcards box with white symbols, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Set the small playingcards container in the basket with handle, and shift the basket with handle away.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the box of playingcards, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the smooth playingcards holder, place it in the woven basket, then move the woven basket away.",
+    "Pick up the blue pack holding playingcards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the blue pack holding playingcards, drop it in the basket with handle, then move the basket with handle.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket, adjust the brown basket.",
+    "Pick up the playingcards pack with blue top and drop it in the basket with handle, then move the basket with handle."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode28.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the palm-sized playingcards carton, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Put the box of playingcards in the basket for carrying things and pull the basket for carrying things away.",
+    "Lift the playingcards box with white symbols, place it into the light brown oval basket, move the light brown oval basket.",
+    "Put the smooth playingcards holder in the brown basket, then move the brown basket away slightly.",
+    "Grab the box of playingcards, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the blue playingcards box, place it in the oval-shaped basket with woven body.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Place the small playingcards container in the basket with handle, then grab the basket with handle.",
+    "Use one arm to place the smooth playingcards holder in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket for holding items.",
+    "Grab the rectangular blue playingcards case, set it into the basket with handle.",
+    "Use one arm to place the blue carton for playingcards in the woven basket.",
+    "Grab the box of playingcards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder and drop it in the wooden basket with curved handle.",
+    "Pick up the blue and white playingcards packaging, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Set the card box with golden designs in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Move the small playingcards container to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Grab the small playingcards container, place it in the basket with handle, then move the basket with handle away.",
+    "Pick up the blue playingcards box, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the brown basket.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the woven basket, and move the woven basket using the right arm.",
+    "Take the blue and white playingcards packaging, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick up the card box with golden designs and set it inside the smooth ribbed light brown basket.",
+    "Lift the blue playingcards box using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Pick and move the box of playingcards, then shift the smooth ribbed light brown basket.",
+    "Pick the rectangular blue playingcards case and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the blue and white playingcards packaging, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick the blue and white playingcards packaging, put it inside the basket with loop handle.",
+    "Pick up the box of playingcards and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Place the palm-sized playingcards carton into the brown basket and push the brown basket slightly away.",
+    "Lift the rectangular blue playingcards case, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Put the card box with golden designs in the basket with loop handle and pull the basket with loop handle away.",
+    "Lift the blue playingcards box, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Put the blue playingcards box in the woven basket, then move the woven basket away slightly.",
+    "Grab the smooth playingcards holder, drop it in the woven basket, then move the woven basket.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the brown basket, slide the brown basket lightly.",
+    "Pick the card box with golden designs, place it in the oval-shaped basket with woven body.",
+    "Use one arm to grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Place the palm-sized playingcards carton in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Use one arm to place the blue pack holding playingcards in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket with loop handle.",
+    "Grab the playingcards box with white symbols, set it into the basket with loop handle.",
+    "Use one arm to place the playingcards pack with blue top in the basket for holding items.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket, shift the brown basket.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the smooth playingcards holder and drop it in the basket for carrying things.",
+    "Pick up the rectangular blue playingcards case, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Set the blue and white playingcards packaging in the basket for holding items, and shift the basket for holding items away.",
+    "Move the small playingcards container to the basket for holding items, then shift the basket for holding items.",
+    "Grab the blue playingcards box, place it in the basket with handle, then move the basket with handle away.",
+    "Pick up the blue carton for playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket for holding items.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Take the blue pack holding playingcards, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the playingcards pack with blue top and set it inside the basket for carrying things.",
+    "Lift the blue playingcards box using the left arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the right arm.",
+    "Pick and move the small playingcards container, then shift the woven basket.",
+    "Pick the palm-sized playingcards carton and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the playingcards pack with blue top, place it in the basket with handle, shift the basket with handle.",
+    "Pick the card box with golden designs, put it inside the oval-shaped basket with woven body.",
+    "Pick up the smooth playingcards holder and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Place the palm-sized playingcards carton into the basket with handle and push the basket with handle slightly away.",
+    "Lift the rectangular blue playingcards case, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Put the palm-sized playingcards carton in the basket for holding items and pull the basket for holding items away.",
+    "Lift the card box with golden designs, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Put the blue carton for playingcards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the blue and white playingcards packaging, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Pick the playingcards pack with blue top, place it in the oval-shaped basket with woven body.",
+    "Use one arm to grab the blue playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Place the playingcards pack with blue top in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Use one arm to place the blue pack holding playingcards in the basket for holding items, adjust the basket for holding items.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the wooden basket with curved handle.",
+    "Grab the blue and white playingcards packaging, set it into the oval-shaped basket with woven body.",
+    "Use one arm to place the small playingcards container in the basket made of woven wood.",
+    "Grab the blue playingcards box, drop it in the brown basket, shift the brown basket.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the small playingcards container and drop it in the basket with loop handle.",
+    "Pick up the box of playingcards, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Set the small playingcards container in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Move the small playingcards container to the woven basket, then shift the woven basket.",
+    "Grab the playingcards box with white symbols, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Pick up the palm-sized playingcards carton, put it in the basket with handle, shift the basket with handle a little.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the woven basket.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Take the playingcards box with white symbols, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the playingcards box with white symbols and set it inside the wooden basket with curved handle.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the playingcards box with white symbols, then shift the basket for holding items.",
+    "Pick the blue pack holding playingcards and position it in the woven basket, move the woven basket slightly.",
+    "Pick the card box with golden designs, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the blue pack holding playingcards, put it inside the brown basket with woven ridges.",
+    "Pick up the blue carton for playingcards and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the small playingcards container, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Place the smooth playingcards holder into the basket with handle and push the basket with handle slightly away.",
+    "Lift the blue pack holding playingcards, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode29.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth playingcards holder, drop it in the woven basket, then move the woven basket.",
+    "Put the box of playingcards in the brown basket, then move the brown basket away slightly.",
+    "Move the smooth playingcards holder to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, put it inside the basket made of woven wood.",
+    "Lift the smooth playingcards holder, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the rectangular blue playingcards case, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Take the small playingcards container, put the small playingcards container into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Take the blue playingcards box, set it in the woven basket, shift the woven basket lightly.",
+    "Put the blue playingcards box in the basket with loop handle and pull the basket with loop handle away.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Set the small playingcards container in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Pick the playingcards box with white symbols, place it in the light brown oval basket.",
+    "Place the palm-sized playingcards carton in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the blue pack holding playingcards and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick up the blue playingcards box, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Grab the playingcards box with white symbols and drop it in the oval-shaped basket with woven body.",
+    "Pick and move the blue playingcards box, then shift the brown basket.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick up the playingcards box with white symbols and set it inside the basket with handle.",
+    "Grab the small playingcards container, set it into the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the oval-shaped basket with woven body.",
+    "Grab the blue and white playingcards packaging, drop in the brown basket, and move the brown basket.",
+    "Place the blue carton for playingcards into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the blue pack holding playingcards in the basket made of woven wood.",
+    "Use one arm to place the blue playingcards box in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the blue pack holding playingcards, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket with loop handle.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Pick up the smooth playingcards holder and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick up the playingcards pack with blue top, place it in the basket with handle, grab the basket with handle.",
+    "Grab the playingcards pack with blue top, drop it in the basket with handle, then move the basket with handle.",
+    "Put the blue playingcards box in the woven basket, then move the woven basket away slightly.",
+    "Move the box of playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Pick the small playingcards container, put it inside the basket for carrying things.",
+    "Lift the playingcards pack with blue top, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Lift the box of playingcards using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Grab the small playingcards container, drop it in the woven basket, shift the woven basket.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket for holding items, shift the basket for holding items.",
+    "Take the smooth playingcards holder, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Put the box of playingcards in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Lift the box of playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Set the blue playingcards box in the brown basket, and shift the brown basket away.",
+    "Pick the rectangular blue playingcards case, place it in the basket made of woven wood.",
+    "Place the blue carton for playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Pick the palm-sized playingcards carton and position it in the woven basket, move the woven basket slightly.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Pick up the blue pack holding playingcards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the box of playingcards and drop it in the basket with handle.",
+    "Pick and move the playingcards box with white symbols, then shift the light brown oval basket.",
+    "Use one arm to grab the blue playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the smooth playingcards holder and set it inside the brown basket.",
+    "Grab the card box with golden designs, set it into the basket for holding items.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket made of woven wood.",
+    "Grab the blue pack holding playingcards, drop in the brown basket, and move the brown basket.",
+    "Place the blue pack holding playingcards into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Pick the blue and white playingcards packaging, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the smooth playingcards holder in the basket with loop handle.",
+    "Use one arm to place the blue and white playingcards packaging in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case, place it in the woven basket, then move the woven basket away.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the wooden basket with curved handle.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the blue playingcards box and drop it in the basket with handle, then move the basket with handle.",
+    "Pick up the playingcards pack with blue top, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the playingcards pack with blue top in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Move the card box with golden designs to the basket with loop handle, then shift the basket with loop handle.",
+    "Pick the smooth playingcards holder, put it inside the basket with loop handle.",
+    "Lift the blue and white playingcards packaging, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Grab the card box with golden designs, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket with handle, shift the basket with handle.",
+    "Take the blue carton for playingcards, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Put the palm-sized playingcards carton in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Lift the card box with golden designs, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Set the playingcards pack with blue top in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick the blue playingcards box, place it in the basket with loop handle.",
+    "Place the rectangular blue playingcards case in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the small playingcards container and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick the small playingcards container, drop the small playingcards container in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick up the smooth playingcards holder, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Grab the blue and white playingcards packaging and drop it in the basket with handle.",
+    "Pick and move the rectangular blue playingcards case, then shift the woven basket.",
+    "Use one arm to grab the blue playingcards box, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick up the palm-sized playingcards carton and set it inside the smooth ribbed light brown basket.",
+    "Grab the blue carton for playingcards, set it into the basket with handle.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the basket for holding items.",
+    "Grab the smooth playingcards holder, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Place the playingcards pack with blue top into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket, shift the brown basket.",
+    "Use one arm to place the blue and white playingcards packaging in the smooth ribbed light brown basket.",
+    "Use one arm to place the box of playingcards in the brown basket, adjust the brown basket.",
+    "Grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the basket for carrying things.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Pick up the playingcards box with white symbols and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the playingcards pack with blue top, place it in the brown basket, grab the brown basket.",
+    "Grab the smooth playingcards holder, drop it in the basket for holding items, then move the basket for holding items."
+  ],
+  "unseen": [
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the wooden basket with curved handle.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the small playingcards container, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick and move the box of playingcards, then shift the oval-shaped basket with woven body.",
+    "Grab the box of playingcards, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Use one arm to grab the card box with golden designs, place it in the basket with handle, then move the basket with handle.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the oval-shaped basket with woven body.",
+    "Use one arm to place the palm-sized playingcards carton in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Grab the palm-sized playingcards carton, drop in the basket with handle, and move the basket with handle.",
+    "Pick the playingcards pack with blue top and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Grab the small playingcards container and drop it in the basket made of woven wood.",
+    "Pick up the palm-sized playingcards carton, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick up the box of playingcards and drop it in the woven basket, then move the woven basket.",
+    "Pick the blue carton for playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Put the card box with golden designs in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Put the blue playingcards box in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the blue and white playingcards packaging, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Use one arm to place the small playingcards container in the basket with handle.",
+    "Lift the small playingcards container using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Pick the palm-sized playingcards carton, place it in the smooth ribbed light brown basket.",
+    "Lift the smooth playingcards holder, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick the rectangular blue playingcards case, put it inside the basket for holding items.",
+    "Move the blue carton for playingcards to the basket with handle, then shift the basket with handle.",
+    "Grab the blue and white playingcards packaging, set it into the basket for holding items.",
+    "Place the playingcards box with white symbols in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Lift the rectangular blue playingcards case, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Pick up the blue and white playingcards packaging and set it inside the brown basket.",
+    "Place the playingcards box with white symbols into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket with handle, slide the basket with handle lightly.",
+    "Set the palm-sized playingcards carton in the light brown oval basket, and shift the light brown oval basket away.",
+    "Take the small playingcards container, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the oval-shaped basket with woven body.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick and move the box of playingcards, then shift the basket with handle.",
+    "Grab the smooth playingcards holder, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards holder, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the wooden basket with curved handle.",
+    "Use one arm to place the small playingcards container in the brown basket, adjust the brown basket.",
+    "Grab the smooth playingcards holder, drop in the basket for holding items, and move the basket for holding items.",
+    "Pick the rectangular blue playingcards case and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Grab the playingcards pack with blue top and drop it in the basket for holding items.",
+    "Pick up the smooth playingcards holder, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the rectangular blue playingcards case, place it in the basket with handle, shift the basket with handle.",
+    "Put the card box with golden designs in the basket with handle, then move the basket with handle away slightly.",
+    "Put the blue carton for playingcards in the light brown oval basket and pull the light brown oval basket away.",
+    "Pick up the blue playingcards box, place it in the basket for holding items, grab the basket for holding items.",
+    "Use one arm to place the playingcards pack with blue top in the oval-shaped basket with woven body.",
+    "Lift the blue and white playingcards packaging using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Pick the box of playingcards, place it in the basket with handle.",
+    "Lift the blue playingcards box, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick the card box with golden designs, put it inside the smooth ribbed light brown basket.",
+    "Move the blue playingcards box to the basket for holding items, then shift the basket for holding items.",
+    "Grab the playingcards box with white symbols, set it into the brown basket with woven ridges.",
+    "Place the smooth playingcards holder in the basket for holding items, then grab the basket for holding items.",
+    "Lift the blue carton for playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the blue carton for playingcards and set it inside the oval-shaped basket with woven body.",
+    "Place the blue pack holding playingcards into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Set the card box with golden designs in the light brown oval basket, and shift the light brown oval basket away.",
+    "Take the smooth playingcards holder, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the brown basket with woven ridges.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick and move the palm-sized playingcards carton, then shift the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top, drop it in the basket with handle, then move the basket with handle.",
+    "Grab the palm-sized playingcards carton, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the brown basket with woven ridges.",
+    "Use one arm to place the blue pack holding playingcards in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the box of playingcards, drop in the woven basket, and move the woven basket.",
+    "Pick the blue and white playingcards packaging and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the small playingcards container and drop it in the woven basket.",
+    "Pick up the card box with golden designs, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick up the box of playingcards and drop it in the brown basket, then move the brown basket.",
+    "Pick the blue playingcards box, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue playingcards box in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Put the blue carton for playingcards in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the blue pack holding playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Use one arm to place the playingcards box with white symbols in the wooden basket with curved handle.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Pick the playingcards box with white symbols, place it in the smooth ribbed light brown basket.",
+    "Lift the smooth playingcards holder, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick the small playingcards container, put it inside the light brown oval basket.",
+    "Move the playingcards pack with blue top to the basket for carrying things, then shift the basket for carrying things.",
+    "Grab the rectangular blue playingcards case, set it into the brown basket with woven ridges.",
+    "Place the small playingcards container in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the blue playingcards box, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Use the left arm to grab the card box with golden designs, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Pick up the blue playingcards box and set it inside the smooth ribbed light brown basket.",
+    "Place the blue carton for playingcards into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Set the palm-sized playingcards carton in the basket with handle, and shift the basket with handle away.",
+    "Take the blue and white playingcards packaging, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the woven basket."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode30.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the palm-sized playingcards carton in the brown basket, and shift the brown basket away.",
+    "Place the blue and white playingcards packaging into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick and move the playingcards pack with blue top, then shift the basket with handle.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Move the playingcards box with white symbols to the basket for holding items, then shift the basket for holding items.",
+    "Pick up the blue carton for playingcards, place it in the basket for holding items, grab the basket for holding items.",
+    "Lift the blue carton for playingcards, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the playingcards pack with blue top, place it in the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols and drop it in the basket for holding items.",
+    "Put the rectangular blue playingcards case in the woven basket and pull the woven basket away.",
+    "Take the playingcards pack with blue top, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick up the blue carton for playingcards and set it inside the basket made of woven wood.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the brown basket with woven ridges.",
+    "Lift the blue pack holding playingcards, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Lift the blue playingcards box using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Use the left arm to grab the small playingcards container, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick up the blue and white playingcards packaging, put it in the brown basket, shift the brown basket a little.",
+    "Grab the card box with golden designs, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the blue and white playingcards packaging and drop it in the brown basket, then move the brown basket.",
+    "Grab the playingcards pack with blue top, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Use one arm to place the playingcards box with white symbols in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick the smooth playingcards holder, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the box of playingcards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Place the playingcards pack with blue top in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Pick the blue playingcards box and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Grab the card box with golden designs, set it into the light brown oval basket.",
+    "Grab the playingcards pack with blue top, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to place the blue pack holding playingcards in the oval-shaped basket with woven body.",
+    "Pick the card box with golden designs, put it inside the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Take the box of playingcards, put the box of playingcards into the basket for carrying things, shift the basket for carrying things.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the basket for holding items.",
+    "Put the smooth playingcards holder in the woven basket, then move the woven basket away slightly.",
+    "Set the palm-sized playingcards carton in the basket with loop handle, and shift the basket with loop handle away.",
+    "Place the palm-sized playingcards carton into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Pick and move the card box with golden designs, then shift the brown basket with woven ridges.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the brown basket, slide the brown basket lightly.",
+    "Move the small playingcards container to the light brown oval basket, then shift the light brown oval basket.",
+    "Pick up the blue and white playingcards packaging, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Lift the box of playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the smooth playingcards holder, place it in the smooth ribbed light brown basket.",
+    "Grab the small playingcards container and drop it in the basket with handle.",
+    "Put the small playingcards container in the basket for carrying things and pull the basket for carrying things away.",
+    "Take the playingcards box with white symbols, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the playingcards pack with blue top and set it inside the woven basket.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket with loop handle.",
+    "Lift the blue pack holding playingcards, place it into the woven basket, move the woven basket.",
+    "Lift the box of playingcards using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick up the small playingcards container, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the box of playingcards, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick up the blue and white playingcards packaging and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the blue pack holding playingcards, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Use one arm to place the box of playingcards in the woven basket, adjust the woven basket.",
+    "Pick the small playingcards container, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the basket for holding items, then move the basket for holding items.",
+    "Place the card box with golden designs in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the blue and white playingcards packaging and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the box of playingcards, set it into the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards holder, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the blue and white playingcards packaging in the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, put it inside the basket with loop handle.",
+    "Grab the blue pack holding playingcards, place it in the basket with handle, then move the basket with handle away.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the brown basket, shift the brown basket.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the light brown oval basket.",
+    "Put the card box with golden designs in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Set the smooth playingcards holder in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Place the smooth playingcards holder into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Pick and move the small playingcards container, then shift the wooden basket with curved handle.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "Pick up the box of playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Lift the smooth playingcards holder, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Pick the playingcards pack with blue top, place it in the basket made of woven wood.",
+    "Grab the smooth playingcards holder and drop it in the wooden basket with curved handle.",
+    "Put the small playingcards container in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Take the playingcards pack with blue top, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the blue playingcards box and set it inside the light brown oval basket.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the oval-shaped basket with woven body.",
+    "Lift the playingcards box with white symbols, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Lift the box of playingcards using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Pick up the small playingcards container, put it in the basket with handle, shift the basket with handle a little.",
+    "Grab the smooth playingcards holder, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the blue and white playingcards packaging and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the smooth playingcards holder, drop in the woven basket, and move the woven basket.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to grab the box of playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Place the blue pack holding playingcards in the basket with handle, then grab the basket with handle.",
+    "Pick the blue pack holding playingcards and position it in the woven basket, move the woven basket slightly.",
+    "Grab the small playingcards container, set it into the brown basket.",
+    "Grab the small playingcards container, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the palm-sized playingcards carton in the basket with loop handle.",
+    "Pick the blue pack holding playingcards, put it inside the basket made of woven wood.",
+    "Grab the playingcards pack with blue top, place it in the woven basket, then move the woven basket away.",
+    "Take the card box with golden designs, put the card box with golden designs into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the basket with handle.",
+    "Put the blue and white playingcards packaging in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Set the smooth playingcards holder in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away."
+  ],
+  "unseen": [
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode31.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the box of playingcards in the woven basket, then grab the woven basket.",
+    "Grab the blue carton for playingcards, set it into the oval-shaped basket with woven body.",
+    "Grab the box of playingcards, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket, then move the brown basket.",
+    "Place the box of playingcards into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Pick up the playingcards pack with blue top, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the smooth playingcards holder and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick up the card box with golden designs, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use the left arm to pick the card box with golden designs, then use the right arm for the basket with handle.",
+    "Pick up the blue playingcards box and set it inside the woven basket.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the brown basket, shift the brown basket.",
+    "Move the blue playingcards box to the basket for carrying things, then shift the basket for carrying things.",
+    "Pick and move the blue carton for playingcards, then shift the basket for holding items.",
+    "Pick the box of playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Put the small playingcards container in the basket with handle and pull the basket with handle away.",
+    "Lift the small playingcards container, place it into the light brown oval basket, move the light brown oval basket.",
+    "Grab the card box with golden designs, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the brown basket.",
+    "Take the smooth playingcards holder, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Put the blue carton for playingcards in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Pick the rectangular blue playingcards case, place it in the basket for holding items.",
+    "Grab the blue pack holding playingcards, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Set the card box with golden designs in the woven basket, and shift the woven basket away.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Grab the box of playingcards and drop it in the basket for holding items.",
+    "Pick the playingcards box with white symbols, put it inside the wooden basket with curved handle.",
+    "Grab the palm-sized playingcards carton, place it in the woven basket, then move the woven basket away.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to place the playingcards box with white symbols in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Lift the card box with golden designs, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Use one arm to place the blue pack holding playingcards in the basket with handle.",
+    "Place the playingcards pack with blue top in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Grab the blue playingcards box, set it into the smooth ribbed light brown basket.",
+    "Grab the small playingcards container, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the card box with golden designs and drop it in the basket for holding items, then move the basket for holding items.",
+    "Place the blue playingcards box into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick up the palm-sized playingcards carton, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Pick the rectangular blue playingcards case and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick up the palm-sized playingcards carton, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the brown basket with woven ridges.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket for holding items.",
+    "Take the blue playingcards box, put the blue playingcards box into the basket with handle, shift the basket with handle.",
+    "Move the blue and white playingcards packaging to the woven basket, then shift the woven basket.",
+    "Pick and move the blue and white playingcards packaging, then shift the basket with handle.",
+    "Pick the blue carton for playingcards, place it in the basket with handle, shift the basket with handle.",
+    "Put the box of playingcards in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Lift the small playingcards container, place it into the light brown oval basket, move the light brown oval basket.",
+    "Grab the box of playingcards, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the smooth ribbed light brown basket.",
+    "Take the playingcards box with white symbols, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Put the rectangular blue playingcards case in the woven basket, then move the woven basket away slightly.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the blue and white playingcards packaging, place it in the brown basket with woven ridges.",
+    "Grab the box of playingcards, drop it in the brown basket, then move the brown basket.",
+    "Set the playingcards box with white symbols in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the blue playingcards box and drop it in the brown basket.",
+    "Pick the playingcards pack with blue top, put it inside the wooden basket with curved handle.",
+    "Grab the small playingcards container, place it in the basket with handle, then move the basket with handle away.",
+    "Use one arm to grab the blue carton for playingcards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Use one arm to place the box of playingcards in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Lift the card box with golden designs, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with handle.",
+    "Place the blue pack holding playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder, set it into the smooth ribbed light brown basket.",
+    "Grab the card box with golden designs, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the blue and white playingcards packaging and drop it in the basket for holding items, then move the basket for holding items.",
+    "Place the rectangular blue playingcards case into the brown basket and push the brown basket slightly away.",
+    "Pick up the blue playingcards box, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Pick the playingcards box with white symbols and position it in the woven basket, move the woven basket slightly.",
+    "Pick up the box of playingcards, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket for carrying things.",
+    "Pick up the blue and white playingcards packaging and set it inside the brown basket.",
+    "Take the card box with golden designs, put the card box with golden designs into the basket for holding items, shift the basket for holding items.",
+    "Move the card box with golden designs to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick and move the smooth playingcards holder, then shift the oval-shaped basket with woven body.",
+    "Pick the blue playingcards box, place it in the basket for holding items, shift the basket for holding items.",
+    "Put the blue and white playingcards packaging in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Lift the rectangular blue playingcards case, place it into the basket for carrying things, move the basket for carrying things.",
+    "Grab the playingcards pack with blue top, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the smooth ribbed light brown basket.",
+    "Take the box of playingcards, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Put the box of playingcards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Pick the small playingcards container, place it in the basket with loop handle.",
+    "Grab the card box with golden designs, drop it in the woven basket, then move the woven basket.",
+    "Set the box of playingcards in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the basket with handle, slide the basket with handle lightly.",
+    "Grab the smooth playingcards holder and drop it in the wooden basket with curved handle.",
+    "Pick the blue and white playingcards packaging, put it inside the basket with loop handle.",
+    "Grab the box of playingcards, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Use one arm to grab the blue playingcards box, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Use one arm to place the playingcards pack with blue top in the basket with loop handle, adjust the basket with loop handle.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Lift the blue playingcards box, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Use one arm to place the blue playingcards box in the woven basket.",
+    "Place the blue playingcards box in the brown basket with woven ridges, then grab the brown basket with woven ridges."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode32.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the blue pack holding playingcards in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick up the blue pack holding playingcards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Take the small playingcards container, put the small playingcards container into the basket with handle, shift the basket with handle.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket, then move the brown basket.",
+    "Grab the playingcards pack with blue top, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the blue playingcards box and drop it in the basket with loop handle.",
+    "Grab the box of playingcards, set it into the smooth ribbed light brown basket.",
+    "Set the blue carton for playingcards in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Pick and move the blue and white playingcards packaging, then shift the basket for holding items.",
+    "Move the rectangular blue playingcards case to the brown basket, then shift the brown basket.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Grab the blue playingcards box, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Lift the blue and white playingcards packaging, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Put the small playingcards container in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the basket for carrying things.",
+    "Place the rectangular blue playingcards case in the woven basket, then grab the woven basket.",
+    "Take the blue pack holding playingcards, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Place the blue and white playingcards packaging into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Pick up the blue playingcards box and set it inside the light brown oval basket.",
+    "Grab the smooth playingcards holder, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Pick the blue pack holding playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Use one arm to place the card box with golden designs in the woven basket.",
+    "Pick the smooth playingcards holder, put it inside the brown basket with woven ridges.",
+    "Pick the playingcards pack with blue top, place it in the light brown oval basket.",
+    "Lift the rectangular blue playingcards case, place it into the light brown oval basket, move the light brown oval basket.",
+    "Lift the blue and white playingcards packaging using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Pick up the box of playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick up the rectangular blue playingcards case and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick the playingcards box with white symbols, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the blue playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the box of playingcards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Take the card box with golden designs, put the card box with golden designs into the brown basket, shift the brown basket.",
+    "Use one arm to grab the small playingcards container, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the blue playingcards box, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the small playingcards container and drop it in the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging, set it into the smooth ribbed light brown basket.",
+    "Set the playingcards box with white symbols in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick and move the small playingcards container, then shift the basket for carrying things.",
+    "Move the blue playingcards box to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Grab the small playingcards container, place it in the basket for holding items, then move the basket for holding items away.",
+    "Lift the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Put the blue playingcards box in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the basket made of woven wood.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the oval-shaped basket with woven body.",
+    "Place the blue carton for playingcards in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Take the playingcards box with white symbols, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Put the small playingcards container in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Place the playingcards pack with blue top into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick up the playingcards box with white symbols and set it inside the wooden basket with curved handle.",
+    "Grab the blue and white playingcards packaging, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the blue carton for playingcards and position it in the woven basket, move the woven basket slightly.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Use one arm to place the playingcards pack with blue top in the basket with loop handle.",
+    "Pick the smooth playingcards holder, put it inside the basket with loop handle.",
+    "Pick the small playingcards container, place it in the smooth ribbed light brown basket.",
+    "Lift the playingcards pack with blue top, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Pick up the card box with golden designs, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the playingcards pack with blue top and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the playingcards pack with blue top, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the card box with golden designs in the basket for holding items, adjust the basket for holding items.",
+    "Pick up the playingcards box with white symbols, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Take the card box with golden designs, put the card box with golden designs into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the smooth playingcards holder, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards and drop it in the basket for carrying things.",
+    "Grab the playingcards pack with blue top, set it into the wooden basket with curved handle.",
+    "Set the blue pack holding playingcards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick and move the small playingcards container, then shift the wooden basket with curved handle.",
+    "Move the blue playingcards box to the brown basket, then shift the brown basket.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the woven basket, and move the woven basket using the right arm.",
+    "Grab the playingcards pack with blue top, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Lift the playingcards pack with blue top, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Put the card box with golden designs in the woven basket, then move the woven basket away slightly.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the basket made of woven wood.",
+    "Place the palm-sized playingcards carton in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Take the palm-sized playingcards carton, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Put the card box with golden designs in the woven basket and pull the woven basket away.",
+    "Place the smooth playingcards holder into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Pick up the smooth playingcards holder and set it inside the brown basket with woven ridges.",
+    "Grab the playingcards pack with blue top, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick the palm-sized playingcards carton and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Use one arm to place the box of playingcards in the brown basket.",
+    "Pick the blue and white playingcards packaging, put it inside the light brown oval basket.",
+    "Pick the blue playingcards box, place it in the wooden basket with curved handle.",
+    "Lift the blue and white playingcards packaging, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Pick up the card box with golden designs, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick up the blue playingcards box and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick the playingcards box with white symbols, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the card box with golden designs, drop it in the basket for holding items, shift the basket for holding items.",
+    "Use one arm to place the smooth playingcards holder in the brown basket, adjust the brown basket."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode33.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the small playingcards container and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Grab the blue pack holding playingcards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the playingcards pack with blue top and drop it in the basket with loop handle.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Use one arm to grab the blue playingcards box, place it in the woven basket, then move the woven basket.",
+    "Grab the playingcards pack with blue top, set it into the woven basket.",
+    "Grab the card box with golden designs, drop it in the brown basket, shift the brown basket.",
+    "Move the blue pack holding playingcards to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Place the box of playingcards into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Lift the card box with golden designs using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick up the card box with golden designs, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Pick up the small playingcards container and set it inside the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards holder, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick up the palm-sized playingcards carton and drop it in the woven basket, then move the woven basket.",
+    "Pick the box of playingcards, place it in the woven basket, shift the woven basket.",
+    "Put the palm-sized playingcards carton in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Put the smooth playingcards holder in the basket for holding items, then move the basket for holding items away slightly.",
+    "Place the box of playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick and move the blue playingcards box, then shift the basket with handle.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket, adjust the brown basket.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the basket for carrying things.",
+    "Pick the playingcards box with white symbols, place it in the basket made of woven wood.",
+    "Use one arm to place the blue carton for playingcards in the basket for carrying things.",
+    "Set the small playingcards container in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the brown basket.",
+    "Pick the blue playingcards box, put it inside the woven basket.",
+    "Pick up the smooth playingcards holder, place it in the woven basket, grab the woven basket.",
+    "Take the blue playingcards box, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Take the blue playingcards box, put the blue playingcards box into the woven basket, shift the woven basket.",
+    "Lift the playingcards pack with blue top, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Lift the playingcards pack with blue top, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick the blue pack holding playingcards and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Grab the blue carton for playingcards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the playingcards box with white symbols and drop it in the brown basket.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the smooth playingcards holder, set it into the woven basket.",
+    "Grab the playingcards box with white symbols, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Move the playingcards box with white symbols to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Place the blue and white playingcards packaging into the basket for holding items and push the basket for holding items slightly away.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the right arm.",
+    "Pick up the playingcards pack with blue top, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick up the blue pack holding playingcards and set it inside the basket for holding items.",
+    "Grab the small playingcards container, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the rectangular blue playingcards case and drop it in the brown basket, then move the brown basket.",
+    "Pick the blue pack holding playingcards, place it in the basket for holding items, shift the basket for holding items.",
+    "Put the playingcards box with white symbols in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Put the playingcards box with white symbols in the basket for holding items, then move the basket for holding items away slightly.",
+    "Place the blue playingcards box in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick and move the rectangular blue playingcards case, then shift the woven basket.",
+    "Use one arm to place the small playingcards container in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the basket for holding items, slide the basket for holding items lightly.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket for holding items.",
+    "Pick the rectangular blue playingcards case, place it in the brown basket.",
+    "Use one arm to place the box of playingcards in the basket for holding items.",
+    "Set the box of playingcards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the brown basket.",
+    "Pick the blue carton for playingcards, put it inside the brown basket.",
+    "Pick up the playingcards box with white symbols, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Take the small playingcards container, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket with handle, shift the basket with handle.",
+    "Lift the blue and white playingcards packaging, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Lift the blue carton for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Grab the smooth playingcards holder, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the small playingcards container and position it in the woven basket, move the woven basket slightly.",
+    "Grab the blue and white playingcards packaging, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Grab the blue pack holding playingcards and drop it in the basket made of woven wood.",
+    "Use the left arm to grab the card box with golden designs, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, set it into the woven basket.",
+    "Grab the blue pack holding playingcards, drop it in the basket for holding items, shift the basket for holding items.",
+    "Move the blue pack holding playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Place the rectangular blue playingcards case into the brown basket and push the brown basket slightly away.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Pick up the small playingcards container, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Pick up the blue and white playingcards packaging and set it inside the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the rectangular blue playingcards case, place it in the brown basket, shift the brown basket.",
+    "Put the blue and white playingcards packaging in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Put the smooth playingcards holder in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Place the blue carton for playingcards in the basket with handle, then grab the basket with handle.",
+    "Pick and move the small playingcards container, then shift the basket with handle.",
+    "Use one arm to place the smooth playingcards holder in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the woven basket.",
+    "Pick the blue playingcards box, place it in the brown basket with woven ridges.",
+    "Use one arm to place the smooth playingcards holder in the basket for carrying things.",
+    "Set the playingcards box with white symbols in the woven basket, and shift the woven basket away.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the smooth ribbed light brown basket.",
+    "Pick the playingcards box with white symbols, put it inside the wooden basket with curved handle.",
+    "Pick up the playingcards box with white symbols, place it in the basket with handle, grab the basket with handle.",
+    "Take the box of playingcards, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the blue and white playingcards packaging, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Lift the rectangular blue playingcards case, place it into the brown basket, move the brown basket.",
+    "Grab the box of playingcards, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the rectangular blue playingcards case and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly."
+  ],
+  "unseen": [
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode34.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the small playingcards container and set it inside the basket with loop handle.",
+    "Use one arm to place the smooth playingcards holder in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the palm-sized playingcards carton, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the small playingcards container, place it in the oval-shaped basket with woven body.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick up the playingcards box with white symbols, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Use one arm to grab the small playingcards container, place it in the brown basket, then move the brown basket.",
+    "Pick and move the palm-sized playingcards carton, then shift the woven basket.",
+    "Put the smooth playingcards holder in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Lift the playingcards box with white symbols, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the oval-shaped basket with woven body.",
+    "Grab the blue playingcards box and drop it in the woven basket.",
+    "Set the card box with golden designs in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Take the blue pack holding playingcards, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the smooth playingcards holder, drop in the brown basket, and move the brown basket.",
+    "Pick the blue playingcards box and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the basket for carrying things.",
+    "Pick the smooth playingcards holder, put it inside the basket for carrying things.",
+    "Grab the blue pack holding playingcards, place it in the brown basket, then move the brown basket away.",
+    "Use one arm to place the palm-sized playingcards carton in the smooth ribbed light brown basket.",
+    "Pick up the playingcards box with white symbols, put it in the brown basket, shift the brown basket a little.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the blue carton for playingcards, set it into the basket for carrying things.",
+    "Take the box of playingcards, put the box of playingcards into the basket for carrying things, shift the basket for carrying things.",
+    "Place the blue and white playingcards packaging into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Lift the playingcards box with white symbols, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Place the blue and white playingcards packaging in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick up the playingcards pack with blue top and drop it in the basket for holding items, then move the basket for holding items.",
+    "Move the palm-sized playingcards carton to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case, drop it in the basket with handle, then move the basket with handle.",
+    "Put the smooth playingcards holder in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the palm-sized playingcards carton, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick up the playingcards pack with blue top and set it inside the oval-shaped basket with woven body.",
+    "Use one arm to place the playingcards pack with blue top in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the blue playingcards box, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the smooth playingcards holder, place it in the oval-shaped basket with woven body.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Pick up the playingcards box with white symbols, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Use one arm to grab the blue playingcards box, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick and move the smooth playingcards holder, then shift the wooden basket with curved handle.",
+    "Put the small playingcards container in the basket for carrying things and pull the basket for carrying things away.",
+    "Lift the box of playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the basket with loop handle.",
+    "Grab the card box with golden designs and drop it in the basket made of woven wood.",
+    "Set the card box with golden designs in the basket with loop handle, and shift the basket with loop handle away.",
+    "Take the blue pack holding playingcards, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Grab the rectangular blue playingcards case, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick the blue pack holding playingcards and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the basket with handle.",
+    "Pick the small playingcards container, put it inside the smooth ribbed light brown basket.",
+    "Grab the playingcards box with white symbols, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Use one arm to place the blue and white playingcards packaging in the oval-shaped basket with woven body.",
+    "Pick up the blue carton for playingcards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the smooth playingcards holder, set it into the smooth ribbed light brown basket.",
+    "Take the box of playingcards, put the box of playingcards into the brown basket, shift the brown basket.",
+    "Place the blue playingcards box into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the playingcards pack with blue top, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Place the playingcards pack with blue top in the basket with handle, then grab the basket with handle.",
+    "Pick up the playingcards box with white symbols and drop it in the basket with handle, then move the basket with handle.",
+    "Move the blue carton for playingcards to the basket for holding items, then shift the basket for holding items.",
+    "Grab the card box with golden designs, drop it in the brown basket, then move the brown basket.",
+    "Put the rectangular blue playingcards case in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Grab the blue pack holding playingcards, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards and set it inside the basket with handle.",
+    "Use one arm to place the blue playingcards box in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the blue carton for playingcards, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the rectangular blue playingcards case, place it in the basket made of woven wood.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Pick up the card box with golden designs, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick and move the blue pack holding playingcards, then shift the basket for carrying things.",
+    "Put the rectangular blue playingcards case in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Lift the palm-sized playingcards carton, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the wooden basket with curved handle.",
+    "Grab the smooth playingcards holder and drop it in the light brown oval basket.",
+    "Set the blue pack holding playingcards in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Take the blue carton for playingcards, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the blue carton for playingcards, drop in the basket with handle, and move the basket with handle.",
+    "Pick the box of playingcards and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket for carrying things.",
+    "Pick the card box with golden designs, put it inside the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white symbols, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Use one arm to place the box of playingcards in the basket for holding items.",
+    "Pick up the blue carton for playingcards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use the left arm to grab the card box with golden designs, place it in the woven basket, and move the woven basket using the right arm.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Grab the box of playingcards, set it into the smooth ribbed light brown basket.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the brown basket, shift the brown basket.",
+    "Place the rectangular blue playingcards case into the basket for holding items and push the basket for holding items slightly away.",
+    "Lift the rectangular blue playingcards case, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Place the small playingcards container in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick up the card box with golden designs and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the blue pack holding playingcards to the woven basket, then shift the woven basket.",
+    "Grab the blue and white playingcards packaging, drop it in the brown basket, then move the brown basket.",
+    "Put the playingcards pack with blue top in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Grab the small playingcards container, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick up the smooth playingcards holder and set it inside the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode35.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the blue carton for playingcards in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the blue playingcards box, place it in the brown basket.",
+    "Lift the blue playingcards box, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the wooden basket with curved handle.",
+    "Grab the playingcards box with white symbols and drop it in the woven basket.",
+    "Use one arm to grab the blue carton for playingcards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the woven basket, slide the woven basket lightly.",
+    "Pick the blue playingcards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Move the box of playingcards to the light brown oval basket, then shift the light brown oval basket.",
+    "Set the playingcards box with white symbols in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Lift the card box with golden designs, place it into the basket for holding items, move the basket for holding items.",
+    "Use one arm to place the playingcards pack with blue top in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the basket with handle, shift the basket with handle.",
+    "Put the playingcards box with white symbols in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket for carrying things.",
+    "Grab the rectangular blue playingcards case, set it into the brown basket.",
+    "Grab the playingcards box with white symbols, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the box of playingcards and drop it in the woven basket, then move the woven basket.",
+    "Place the smooth playingcards holder into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Take the playingcards pack with blue top, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick and move the box of playingcards, then shift the basket with loop handle.",
+    "Use one arm to place the playingcards pack with blue top in the wooden basket with curved handle.",
+    "Put the smooth playingcards holder in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Pick the blue carton for playingcards, put it inside the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the woven basket, then move the woven basket.",
+    "Pick up the palm-sized playingcards carton, place it in the brown basket, grab the brown basket.",
+    "Pick up the card box with golden designs, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the woven basket, shift the woven basket.",
+    "Pick up the blue carton for playingcards and set it inside the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop in the basket with handle, and move the basket with handle.",
+    "Pick the playingcards pack with blue top and position it in the woven basket, move the woven basket slightly.",
+    "Place the blue pack holding playingcards in the woven basket, then grab the woven basket.",
+    "Pick the palm-sized playingcards carton, place it in the wooden basket with curved handle.",
+    "Lift the blue carton for playingcards, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the light brown oval basket.",
+    "Grab the blue pack holding playingcards and drop it in the smooth ribbed light brown basket.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Lift the box of playingcards using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Pick the box of playingcards, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Move the blue and white playingcards packaging to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Set the smooth playingcards holder in the light brown oval basket, and shift the light brown oval basket away.",
+    "Lift the rectangular blue playingcards case, place it into the basket with loop handle, move the basket with loop handle.",
+    "Use one arm to place the blue carton for playingcards in the basket for holding items, adjust the basket for holding items.",
+    "Grab the blue carton for playingcards, drop it in the basket with handle, shift the basket with handle.",
+    "Put the blue playingcards box in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket with handle.",
+    "Grab the palm-sized playingcards carton, set it into the basket for carrying things.",
+    "Grab the blue pack holding playingcards, place it in the brown basket, then move the brown basket away.",
+    "Pick up the rectangular blue playingcards case and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Place the box of playingcards into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Take the playingcards box with white symbols, set it in the brown basket, shift the brown basket lightly.",
+    "Pick and move the blue and white playingcards packaging, then shift the oval-shaped basket with woven body.",
+    "Use one arm to place the blue and white playingcards packaging in the basket for carrying things.",
+    "Put the blue playingcards box in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick the blue pack holding playingcards, put it inside the basket made of woven wood.",
+    "Grab the box of playingcards, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the playingcards box with white symbols, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick up the blue and white playingcards packaging, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket for holding items, shift the basket for holding items.",
+    "Pick up the playingcards pack with blue top and set it inside the smooth ribbed light brown basket.",
+    "Grab the rectangular blue playingcards case, drop in the basket for holding items, and move the basket for holding items.",
+    "Pick the small playingcards container and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Place the blue and white playingcards packaging in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick the smooth playingcards holder, place it in the basket with handle.",
+    "Lift the small playingcards container, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the brown basket.",
+    "Grab the playingcards box with white symbols and drop it in the oval-shaped basket with woven body.",
+    "Use one arm to grab the card box with golden designs, place it in the basket with handle, then move the basket with handle.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the card box with golden designs, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Move the blue pack holding playingcards to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Set the box of playingcards in the brown basket, and shift the brown basket away.",
+    "Lift the card box with golden designs, place it into the basket with loop handle, move the basket with loop handle.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket, adjust the brown basket.",
+    "Grab the palm-sized playingcards carton, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue carton for playingcards in the basket with handle and pull the basket with handle away.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket made of woven wood.",
+    "Grab the box of playingcards, set it into the basket for carrying things.",
+    "Grab the palm-sized playingcards carton, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick up the small playingcards container and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Place the playingcards box with white symbols into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Take the rectangular blue playingcards case, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Pick and move the blue pack holding playingcards, then shift the brown basket with woven ridges.",
+    "Use one arm to place the palm-sized playingcards carton in the basket with loop handle.",
+    "Put the blue pack holding playingcards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick the blue carton for playingcards, put it inside the brown basket with woven ridges.",
+    "Grab the blue playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the playingcards pack with blue top, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Pick up the blue and white playingcards packaging, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket with handle, shift the basket with handle.",
+    "Pick up the playingcards pack with blue top and set it inside the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop in the woven basket, and move the woven basket.",
+    "Pick the blue pack holding playingcards and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Place the small playingcards container in the brown basket, then grab the brown basket."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode36.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the smooth playingcards holder in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Take the box of playingcards, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Lift the blue and white playingcards packaging, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Set the smooth playingcards holder in the woven basket, and shift the woven basket away.",
+    "Pick the palm-sized playingcards carton, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Move the blue carton for playingcards to the light brown oval basket, then shift the light brown oval basket.",
+    "Grab the playingcards pack with blue top, set it into the woven basket.",
+    "Grab the blue carton for playingcards and drop it in the basket made of woven wood.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the light brown oval basket.",
+    "Pick up the blue carton for playingcards, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Lift the card box with golden designs, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick up the rectangular blue playingcards case and set it inside the brown basket with woven ridges.",
+    "Use the left arm to grab the small playingcards container, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick the blue playingcards box and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick the small playingcards container, place it in the light brown oval basket.",
+    "Put the blue pack holding playingcards in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Pick the playingcards pack with blue top, put it inside the basket for carrying things.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the right arm.",
+    "Grab the blue carton for playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Place the playingcards pack with blue top into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Use one arm to place the smooth playingcards holder in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the box of playingcards, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket made of woven wood.",
+    "Use one arm to place the rectangular blue playingcards case in the light brown oval basket.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the woven basket, then move the woven basket.",
+    "Pick up the smooth playingcards holder, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the basket for holding items, shift the basket for holding items.",
+    "Pick up the playingcards box with white symbols and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the rectangular blue playingcards case, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick and move the small playingcards container, then shift the light brown oval basket.",
+    "Put the playingcards box with white symbols in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Place the small playingcards container in the basket for carrying things, then grab the basket for carrying things.",
+    "Take the palm-sized playingcards carton, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Lift the box of playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Set the palm-sized playingcards carton in the brown basket, and shift the brown basket away.",
+    "Pick the playingcards box with white symbols, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Move the small playingcards container to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the blue carton for playingcards, set it into the brown basket.",
+    "Grab the blue and white playingcards packaging and drop it in the basket for carrying things.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the basket with loop handle.",
+    "Pick up the small playingcards container, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Lift the small playingcards container, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the playingcards box with white symbols and set it inside the basket for holding items.",
+    "Use the left arm to grab the box of playingcards, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the blue and white playingcards packaging and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick the blue carton for playingcards, place it in the basket for carrying things.",
+    "Put the blue and white playingcards packaging in the brown basket, then move the brown basket away slightly.",
+    "Pick the blue and white playingcards packaging, put it inside the smooth ribbed light brown basket.",
+    "Lift the playingcards pack with blue top using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Grab the card box with golden designs, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Place the blue carton for playingcards into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Use one arm to place the blue and white playingcards packaging in the basket for holding items, adjust the basket for holding items.",
+    "Grab the blue pack holding playingcards, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the card box with golden designs, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the basket with loop handle.",
+    "Use one arm to place the smooth playingcards holder in the brown basket.",
+    "Use one arm to grab the small playingcards container, place it in the woven basket, then move the woven basket.",
+    "Pick up the smooth playingcards holder, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the woven basket, shift the woven basket.",
+    "Pick up the rectangular blue playingcards case and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick and move the box of playingcards, then shift the brown basket with woven ridges.",
+    "Put the smooth playingcards holder in the basket for holding items and pull the basket for holding items away.",
+    "Place the smooth playingcards holder in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Take the blue and white playingcards packaging, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Lift the palm-sized playingcards carton, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Set the palm-sized playingcards carton in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the blue carton for playingcards, place it in the basket for holding items, shift the basket for holding items.",
+    "Move the rectangular blue playingcards case to the basket for holding items, then shift the basket for holding items.",
+    "Grab the playingcards pack with blue top, set it into the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top and drop it in the basket for carrying things.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the basket with handle.",
+    "Pick up the blue carton for playingcards, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Lift the playingcards pack with blue top, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick up the box of playingcards and set it inside the basket for holding items.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Pick the blue carton for playingcards and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick the smooth playingcards holder, place it in the brown basket with woven ridges.",
+    "Put the blue carton for playingcards in the basket with handle, then move the basket with handle away slightly.",
+    "Pick the blue carton for playingcards, put it inside the basket with handle.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Grab the smooth playingcards holder, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Place the rectangular blue playingcards case into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Use one arm to place the blue playingcards box in the basket for holding items, adjust the basket for holding items.",
+    "Grab the blue carton for playingcards, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the smooth playingcards holder, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the small playingcards container, drop the small playingcards container in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the brown basket with woven ridges.",
+    "Use one arm to place the small playingcards container in the light brown oval basket.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick up the card box with golden designs, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Take the small playingcards container, put the small playingcards container into the basket with handle, shift the basket with handle.",
+    "Pick up the rectangular blue playingcards case and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop it in the basket with handle, then move the basket with handle.",
+    "Pick and move the blue playingcards box, then shift the wooden basket with curved handle.",
+    "Put the blue carton for playingcards in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode37.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the playingcards box with white symbols, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Pick and move the blue carton for playingcards, then shift the wooden basket with curved handle.",
+    "Pick up the palm-sized playingcards carton, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Place the playingcards box with white symbols into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the small playingcards container in the wooden basket with curved handle.",
+    "Grab the blue carton for playingcards and drop it in the oval-shaped basket with woven body.",
+    "Set the box of playingcards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the blue carton for playingcards, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick the blue and white playingcards packaging, place it in the oval-shaped basket with woven body.",
+    "Use one arm to place the playingcards box with white symbols in the basket for carrying things, adjust the basket for carrying things.",
+    "Lift the playingcards pack with blue top, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Move the rectangular blue playingcards case to the basket with handle, then shift the basket with handle.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the basket for carrying things.",
+    "Pick up the blue pack holding playingcards and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the palm-sized playingcards carton, put it inside the oval-shaped basket with woven body.",
+    "Lift the blue and white playingcards packaging, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white symbols, drop it in the woven basket, shift the woven basket.",
+    "Grab the blue carton for playingcards, set it into the light brown oval basket.",
+    "Grab the playingcards pack with blue top, place it in the brown basket, then move the brown basket away.",
+    "Put the palm-sized playingcards carton in the basket with handle, then move the basket with handle away slightly.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the smooth playingcards holder and set it inside the smooth ribbed light brown basket.",
+    "Pick the box of playingcards and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Grab the card box with golden designs, drop in the basket with handle, and move the basket with handle.",
+    "Pick the playingcards pack with blue top, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Take the smooth playingcards holder, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Put the card box with golden designs in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the basket for holding items, slide the basket for holding items lightly.",
+    "Place the card box with golden designs in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Lift the blue and white playingcards packaging using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the palm-sized playingcards carton, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick and move the blue playingcards box, then shift the brown basket with woven ridges.",
+    "Pick up the playingcards pack with blue top, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Place the blue carton for playingcards into the basket for holding items and push the basket for holding items slightly away.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket for holding items, shift the basket for holding items.",
+    "Use one arm to place the blue carton for playingcards in the brown basket.",
+    "Grab the box of playingcards and drop it in the woven basket.",
+    "Set the card box with golden designs in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Grab the blue and white playingcards packaging, drop it in the brown basket, then move the brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the woven basket.",
+    "Use one arm to place the smooth playingcards holder in the brown basket, adjust the brown basket.",
+    "Lift the card box with golden designs, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Move the playingcards box with white symbols to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the basket for carrying things.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket, then move the brown basket.",
+    "Pick the blue playingcards box, put it inside the basket with handle.",
+    "Lift the blue playingcards box, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Grab the playingcards box with white symbols, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the blue playingcards box, set it into the basket for carrying things.",
+    "Grab the blue and white playingcards packaging, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Put the smooth playingcards holder in the brown basket, then move the brown basket away slightly.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the wooden basket with curved handle.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket for carrying things.",
+    "Pick the blue playingcards box and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Grab the rectangular blue playingcards case, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the blue carton for playingcards, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the blue and white playingcards packaging, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Put the rectangular blue playingcards case in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Place the card box with golden designs in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Use one arm to grab the smooth playingcards holder, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the small playingcards container, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Pick and move the smooth playingcards holder, then shift the light brown oval basket.",
+    "Pick up the playingcards pack with blue top, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Place the small playingcards container into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Take the small playingcards container, put the small playingcards container into the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the blue carton for playingcards in the basket made of woven wood.",
+    "Grab the blue playingcards box and drop it in the oval-shaped basket with woven body.",
+    "Set the blue and white playingcards packaging in the woven basket, and shift the woven basket away.",
+    "Grab the smooth playingcards holder, drop it in the brown basket, then move the brown basket.",
+    "Pick the playingcards pack with blue top, place it in the basket with loop handle.",
+    "Use one arm to place the box of playingcards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Lift the blue pack holding playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Move the box of playingcards to the woven basket, then shift the woven basket.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the woven basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the blue and white playingcards packaging, put it inside the basket with handle.",
+    "Lift the blue and white playingcards packaging, place it into the basket with handle, move the basket with handle.",
+    "Grab the playingcards pack with blue top, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the palm-sized playingcards carton, set it into the smooth ribbed light brown basket.",
+    "Grab the rectangular blue playingcards case, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Put the box of playingcards in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the brown basket.",
+    "Pick up the blue and white playingcards packaging and set it inside the basket for carrying things.",
+    "Pick the blue carton for playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Grab the card box with golden designs, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the palm-sized playingcards carton, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the blue playingcards box, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Put the card box with golden designs in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Place the box of playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Use one arm to grab the blue playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode38.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue pack holding playingcards and drop it in the wooden basket with curved handle.",
+    "Pick up the playingcards pack with blue top and set it inside the basket for carrying things.",
+    "Pick up the blue pack holding playingcards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Put the rectangular blue playingcards case in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Set the playingcards pack with blue top in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick and move the rectangular blue playingcards case, then shift the basket made of woven wood.",
+    "Pick the box of playingcards and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick up the palm-sized playingcards carton and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the blue carton for playingcards, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the playingcards pack with blue top, put it inside the basket with handle.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Grab the rectangular blue playingcards case, set it into the brown basket.",
+    "Move the card box with golden designs to the basket for carrying things, then shift the basket for carrying things.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the basket with handle.",
+    "Lift the blue playingcards box, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Place the palm-sized playingcards carton in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick the small playingcards container, drop the small playingcards container in the basket for holding items, slide the basket for holding items lightly.",
+    "Grab the blue playingcards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the smooth playingcards holder, place it in the brown basket, shift the brown basket.",
+    "Take the blue carton for playingcards, set it in the woven basket, shift the woven basket lightly.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the basket made of woven wood.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket with loop handle, shift the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the blue and white playingcards packaging, place it in the basket with handle, then move the basket with handle away.",
+    "Use the left arm to grab the card box with golden designs, place it in the woven basket, and move the woven basket using the right arm.",
+    "Use one arm to place the blue playingcards box in the basket made of woven wood.",
+    "Use one arm to place the playingcards box with white symbols in the light brown oval basket, adjust the light brown oval basket.",
+    "Put the playingcards pack with blue top in the woven basket and pull the woven basket away.",
+    "Grab the playingcards pack with blue top, drop it in the basket for holding items, then move the basket for holding items.",
+    "Place the blue playingcards box into the brown basket and push the brown basket slightly away.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Pick the smooth playingcards holder, place it in the oval-shaped basket with woven body.",
+    "Lift the blue pack holding playingcards, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Grab the small playingcards container and drop it in the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket with loop handle.",
+    "Pick up the rectangular blue playingcards case, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Put the blue pack holding playingcards in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Set the box of playingcards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick and move the blue pack holding playingcards, then shift the basket for carrying things.",
+    "Pick the box of playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick up the box of playingcards and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the box of playingcards, place it in the woven basket, grab the woven basket.",
+    "Pick the small playingcards container, put it inside the basket with loop handle.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Grab the palm-sized playingcards carton, set it into the basket made of woven wood.",
+    "Move the smooth playingcards holder to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the smooth ribbed light brown basket.",
+    "Lift the box of playingcards, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Place the playingcards box with white symbols in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the blue carton for playingcards, drop in the woven basket, and move the woven basket.",
+    "Pick the blue carton for playingcards, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Take the blue playingcards box, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the oval-shaped basket with woven body.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket with loop handle, shift the basket with loop handle.",
+    "Grab the small playingcards container, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the small playingcards container, place it in the brown basket, then move the brown basket away.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the brown basket, and move the brown basket using the right arm.",
+    "Use one arm to place the box of playingcards in the smooth ribbed light brown basket.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with handle, adjust the basket with handle.",
+    "Put the box of playingcards in the basket with handle and pull the basket with handle away.",
+    "Grab the rectangular blue playingcards case, drop it in the basket for holding items, then move the basket for holding items.",
+    "Place the blue and white playingcards packaging into the basket for holding items and push the basket for holding items slightly away.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Pick the blue carton for playingcards, place it in the basket with handle.",
+    "Lift the blue carton for playingcards, place it into the brown basket, move the brown basket.",
+    "Grab the palm-sized playingcards carton and drop it in the smooth ribbed light brown basket.",
+    "Pick up the playingcards pack with blue top and set it inside the basket for holding items.",
+    "Pick up the box of playingcards, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Put the blue carton for playingcards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Set the blue pack holding playingcards in the brown basket, and shift the brown basket away.",
+    "Pick and move the box of playingcards, then shift the basket made of woven wood.",
+    "Pick the blue pack holding playingcards and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick up the blue playingcards box and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the blue pack holding playingcards, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Pick the small playingcards container, put it inside the brown basket.",
+    "Lift the playingcards pack with blue top using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Grab the blue playingcards box, set it into the basket for carrying things.",
+    "Move the blue playingcards box to the basket with handle, then shift the basket with handle.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the basket for carrying things.",
+    "Lift the blue carton for playingcards, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Place the blue playingcards box in the brown basket, then grab the brown basket.",
+    "Pick the box of playingcards, drop the box of playingcards in the brown basket, slide the brown basket lightly.",
+    "Grab the small playingcards container, drop in the brown basket, and move the brown basket.",
+    "Pick the blue playingcards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Take the playingcards pack with blue top, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the light brown oval basket.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the blue and white playingcards packaging, drop it in the woven basket, shift the woven basket.",
+    "Grab the playingcards box with white symbols, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Use one arm to place the blue and white playingcards packaging in the oval-shaped basket with woven body.",
+    "Use one arm to place the blue pack holding playingcards in the basket with loop handle, adjust the basket with loop handle.",
+    "Put the palm-sized playingcards carton in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the small playingcards container, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Place the playingcards pack with blue top into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Use one arm to grab the box of playingcards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick the blue playingcards box, place it in the basket with handle.",
+    "Lift the blue playingcards box, place it into the light brown oval basket, move the light brown oval basket.",
+    "Grab the blue carton for playingcards and drop it in the brown basket."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode39.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Take the rectangular blue playingcards case, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Move the box of playingcards to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Pick up the blue and white playingcards packaging and drop it in the woven basket, then move the woven basket.",
+    "Grab the rectangular blue playingcards case, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the playingcards pack with blue top, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick up the playingcards pack with blue top, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Place the card box with golden designs into the basket with handle and push the basket with handle slightly away.",
+    "Place the box of playingcards in the basket for holding items, then grab the basket for holding items.",
+    "Grab the small playingcards container, set it into the woven basket.",
+    "Pick the playingcards pack with blue top and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the brown basket.",
+    "Use one arm to place the playingcards pack with blue top in the basket with handle, adjust the basket with handle.",
+    "Pick and move the playingcards box with white symbols, then shift the oval-shaped basket with woven body.",
+    "Pick the blue and white playingcards packaging, place it in the woven basket.",
+    "Put the card box with golden designs in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Pick the small playingcards container, put it inside the light brown oval basket.",
+    "Pick up the playingcards box with white symbols and set it inside the basket with handle.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the woven basket, slide the woven basket lightly.",
+    "Set the playingcards pack with blue top in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the basket for carrying things.",
+    "Lift the card box with golden designs, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket with handle, shift the basket with handle.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the woven basket, then move the woven basket.",
+    "Grab the blue carton for playingcards, place it in the brown basket, then move the brown basket away.",
+    "Pick the blue playingcards box, place it in the basket with handle, shift the basket with handle.",
+    "Pick up the playingcards box with white symbols, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the rectangular blue playingcards case and drop it in the wooden basket with curved handle.",
+    "Grab the blue and white playingcards packaging, drop it in the basket for holding items, shift the basket for holding items.",
+    "Use one arm to place the box of playingcards in the smooth ribbed light brown basket.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Take the smooth playingcards holder, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Move the blue carton for playingcards to the light brown oval basket, then shift the light brown oval basket.",
+    "Pick up the small playingcards container and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the playingcards box with white symbols, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the smooth playingcards holder, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the blue carton for playingcards, place it in the basket with handle, grab the basket with handle.",
+    "Place the blue and white playingcards packaging into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Place the playingcards box with white symbols in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards holder, set it into the oval-shaped basket with woven body.",
+    "Pick the box of playingcards and position it in the brown basket, move the brown basket slightly.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the brown basket.",
+    "Use one arm to place the smooth playingcards holder in the basket for holding items, adjust the basket for holding items.",
+    "Pick and move the box of playingcards, then shift the basket with loop handle.",
+    "Pick the rectangular blue playingcards case, place it in the basket with handle.",
+    "Put the blue carton for playingcards in the brown basket, then move the brown basket away slightly.",
+    "Pick the palm-sized playingcards carton, put it inside the basket with handle.",
+    "Pick up the blue and white playingcards packaging and set it inside the basket made of woven wood.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the basket for holding items, slide the basket for holding items lightly.",
+    "Set the rectangular blue playingcards case in the basket with handle, and shift the basket with handle away.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the basket for carrying things.",
+    "Lift the blue carton for playingcards, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Lift the smooth playingcards holder, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the brown basket, then move the brown basket.",
+    "Grab the small playingcards container, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Pick the box of playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the playingcards pack with blue top, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Grab the playingcards pack with blue top and drop it in the light brown oval basket.",
+    "Grab the playingcards box with white symbols, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to place the playingcards pack with blue top in the basket for holding items.",
+    "Put the rectangular blue playingcards case in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Take the rectangular blue playingcards case, set it in the brown basket, shift the brown basket lightly.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "Pick up the card box with golden designs and drop it in the woven basket, then move the woven basket.",
+    "Grab the box of playingcards, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the small playingcards container, drop in the woven basket, and move the woven basket.",
+    "Pick up the palm-sized playingcards carton, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Place the palm-sized playingcards carton into the basket with handle and push the basket with handle slightly away.",
+    "Place the blue and white playingcards packaging in the basket with loop handle, then grab the basket with loop handle.",
+    "Grab the palm-sized playingcards carton, set it into the basket for carrying things.",
+    "Pick the palm-sized playingcards carton and position it in the brown basket, move the brown basket slightly.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the smooth ribbed light brown basket.",
+    "Use one arm to place the palm-sized playingcards carton in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick and move the smooth playingcards holder, then shift the basket for holding items.",
+    "Pick the box of playingcards, place it in the basket with loop handle.",
+    "Put the blue and white playingcards packaging in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Pick the card box with golden designs, put it inside the basket with handle.",
+    "Pick up the blue pack holding playingcards and set it inside the brown basket with woven ridges.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Set the smooth playingcards holder in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use the left arm to pick the card box with golden designs, then use the right arm for the basket for holding items.",
+    "Lift the rectangular blue playingcards case, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Lift the palm-sized playingcards carton, place it into the light brown oval basket, move the light brown oval basket.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the card box with golden designs, place it in the brown basket, then move the brown basket away.",
+    "Pick the rectangular blue playingcards case, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the blue playingcards box, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Grab the card box with golden designs and drop it in the woven basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the rectangular blue playingcards case in the light brown oval basket.",
+    "Put the blue carton for playingcards in the brown basket and pull the brown basket away.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the woven basket, and move the woven basket using the right arm."
+  ],
+  "unseen": [
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the playingcards pack with blue top, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick up the smooth playingcards holder, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the basket with handle, slide the basket with handle lightly.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Pick the blue playingcards box and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick the blue and white playingcards packaging, place it in the woven basket, shift the woven basket.",
+    "Take the blue pack holding playingcards, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Place the box of playingcards into the basket with handle and push the basket with handle slightly away.",
+    "Place the small playingcards container in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the rectangular blue playingcards case, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket for carrying things.",
+    "Move the playingcards pack with blue top to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the blue playingcards box, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick and move the rectangular blue playingcards case, then shift the basket with handle.",
+    "Pick up the smooth playingcards holder and set it inside the basket for carrying things.",
+    "Grab the playingcards box with white symbols, set it into the brown basket with woven ridges.",
+    "Pick up the blue playingcards box and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the playingcards box with white symbols and drop it in the oval-shaped basket with woven body.",
+    "Lift the playingcards pack with blue top, place it into the basket with loop handle, move the basket with loop handle.",
+    "Set the blue and white playingcards packaging in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick the card box with golden designs, place it in the basket made of woven wood.",
+    "Use one arm to place the small playingcards container in the oval-shaped basket with woven body.",
+    "Grab the blue and white playingcards packaging, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to place the palm-sized playingcards carton in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Put the blue pack holding playingcards in the light brown oval basket and pull the light brown oval basket away.",
+    "Pick the rectangular blue playingcards case, put it inside the basket for holding items.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Put the box of playingcards in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Use one arm to grab the smooth playingcards holder, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the basket for holding items.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket with handle, shift the basket with handle.",
+    "Grab the blue playingcards box, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the playingcards box with white symbols, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Pick up the small playingcards container, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the blue and white playingcards packaging and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the playingcards box with white symbols, place it in the brown basket, shift the brown basket.",
+    "Take the playingcards box with white symbols, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Place the smooth playingcards holder into the basket with handle and push the basket with handle slightly away.",
+    "Place the card box with golden designs in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Lift the palm-sized playingcards carton, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the basket made of woven wood.",
+    "Move the blue pack holding playingcards to the light brown oval basket, then shift the light brown oval basket.",
+    "Grab the playingcards pack with blue top, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick up the palm-sized playingcards carton, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Pick and move the box of playingcards, then shift the basket with handle.",
+    "Pick up the playingcards pack with blue top and set it inside the basket for carrying things.",
+    "Grab the blue carton for playingcards, set it into the brown basket.",
+    "Pick up the small playingcards container and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the smooth playingcards holder and drop it in the basket with loop handle.",
+    "Lift the small playingcards container, place it into the brown basket, move the brown basket.",
+    "Set the palm-sized playingcards carton in the basket for holding items, and shift the basket for holding items away.",
+    "Pick the rectangular blue playingcards case, place it in the basket with loop handle.",
+    "Use one arm to place the blue and white playingcards packaging in the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to place the card box with golden designs in the basket for carrying things, adjust the basket for carrying things.",
+    "Put the box of playingcards in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the blue carton for playingcards, put it inside the woven basket.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Put the blue and white playingcards packaging in the basket with handle, then move the basket with handle away slightly.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the basket for carrying things.",
+    "Take the blue playingcards box, put the blue playingcards box into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the blue playingcards box, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the box of playingcards, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Pick up the blue carton for playingcards, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Use the left arm to grab the small playingcards container, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick the blue pack holding playingcards and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick the blue and white playingcards packaging, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Take the playingcards pack with blue top, set it in the brown basket, shift the brown basket lightly.",
+    "Place the rectangular blue playingcards case into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Place the playingcards box with white symbols in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Lift the small playingcards container, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the basket with handle.",
+    "Move the palm-sized playingcards carton to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the playingcards pack with blue top, drop in the woven basket, and move the woven basket.",
+    "Pick up the playingcards pack with blue top, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick and move the palm-sized playingcards carton, then shift the brown basket.",
+    "Pick up the blue pack holding playingcards and set it inside the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, set it into the woven basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the smooth playingcards holder and drop it in the basket with loop handle.",
+    "Lift the blue pack holding playingcards, place it into the woven basket, move the woven basket.",
+    "Set the blue carton for playingcards in the basket for holding items, and shift the basket for holding items away.",
+    "Pick the card box with golden designs, place it in the basket with handle.",
+    "Use one arm to place the rectangular blue playingcards case in the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white symbols, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to place the blue carton for playingcards in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Put the playingcards box with white symbols in the brown basket and pull the brown basket away.",
+    "Pick the blue and white playingcards packaging, put it inside the basket for carrying things.",
+    "Lift the card box with golden designs using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Put the blue pack holding playingcards in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the woven basket.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the blue and white playingcards packaging, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the playingcards box with white symbols, place it in the basket made of woven wood, then move the basket made of woven wood away."
+  ],
+  "unseen": [
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode40.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the smooth playingcards holder in the basket for holding items.",
+    "Pick the small playingcards container, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket for holding items.",
+    "Grab the smooth playingcards holder, set it into the brown basket with woven ridges.",
+    "Pick up the smooth playingcards holder, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Put the blue playingcards box in the basket for carrying things and pull the basket for carrying things away.",
+    "Place the small playingcards container into the basket with handle and push the basket with handle slightly away.",
+    "Grab the playingcards box with white symbols, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the smooth playingcards holder and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the small playingcards container and drop it in the woven basket.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the basket made of woven wood.",
+    "Pick up the blue and white playingcards packaging, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Lift the smooth playingcards holder, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick the smooth playingcards holder, put it inside the light brown oval basket.",
+    "Put the playingcards pack with blue top in the basket with handle, then move the basket with handle away slightly.",
+    "Place the blue and white playingcards packaging in the basket with handle, then grab the basket with handle.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Grab the palm-sized playingcards carton, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the woven basket, and move the woven basket using the right arm.",
+    "Pick and move the playingcards box with white symbols, then shift the woven basket.",
+    "Use one arm to place the small playingcards container in the basket for carrying things, adjust the basket for carrying things.",
+    "Pick up the blue and white playingcards packaging and set it inside the basket with handle.",
+    "Grab the playingcards box with white symbols, drop in the woven basket, and move the woven basket.",
+    "Pick the box of playingcards, place it in the basket made of woven wood.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Set the rectangular blue playingcards case in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Lift the smooth playingcards holder, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick up the palm-sized playingcards carton and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the blue pack holding playingcards, set it in the basket with handle, shift the basket with handle lightly.",
+    "Move the palm-sized playingcards carton to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket with handle, then move the basket with handle.",
+    "Take the small playingcards container, put the small playingcards container into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the blue carton for playingcards in the smooth ribbed light brown basket.",
+    "Pick the blue and white playingcards packaging, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the basket with loop handle.",
+    "Grab the playingcards pack with blue top, set it into the basket for carrying things.",
+    "Pick up the smooth playingcards holder, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Put the blue and white playingcards packaging in the basket with handle and pull the basket with handle away.",
+    "Place the playingcards pack with blue top into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the blue carton for playingcards, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the blue and white playingcards packaging and position it in the woven basket, move the woven basket slightly.",
+    "Grab the card box with golden designs and drop it in the brown basket.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the smooth ribbed light brown basket.",
+    "Pick up the blue and white playingcards packaging, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Lift the small playingcards container, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick the blue playingcards box, put it inside the basket for carrying things.",
+    "Put the blue pack holding playingcards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Place the blue playingcards box in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick the small playingcards container, drop the small playingcards container in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the card box with golden designs, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick and move the small playingcards container, then shift the basket with loop handle.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket with handle.",
+    "Grab the blue playingcards box, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick the playingcards pack with blue top, place it in the oval-shaped basket with woven body.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Set the blue pack holding playingcards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Lift the blue playingcards box, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick up the blue and white playingcards packaging and drop it in the basket for holding items, then move the basket for holding items.",
+    "Take the card box with golden designs, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Move the blue playingcards box to the basket for carrying things, then shift the basket for carrying things.",
+    "Use one arm to grab the card box with golden designs, place it in the basket for holding items, then move the basket for holding items.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to place the blue playingcards box in the basket made of woven wood.",
+    "Pick the smooth playingcards holder, place it in the woven basket, shift the woven basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket for carrying things.",
+    "Grab the blue carton for playingcards, set it into the oval-shaped basket with woven body.",
+    "Pick up the rectangular blue playingcards case, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Put the rectangular blue playingcards case in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Place the blue and white playingcards packaging into the woven basket and push the woven basket slightly away.",
+    "Grab the card box with golden designs, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the box of playingcards and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Grab the card box with golden designs and drop it in the smooth ribbed light brown basket.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the basket with handle.",
+    "Pick up the small playingcards container, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Lift the blue playingcards box, place it into the brown basket, move the brown basket.",
+    "Pick the blue playingcards box, put it inside the light brown oval basket.",
+    "Put the smooth playingcards holder in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Place the blue and white playingcards packaging in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the box of playingcards, drop the box of playingcards in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Grab the smooth playingcards holder, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick and move the blue carton for playingcards, then shift the basket made of woven wood.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick up the card box with golden designs and set it inside the basket for holding items.",
+    "Grab the blue carton for playingcards, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick the blue and white playingcards packaging, place it in the basket for carrying things.",
+    "Lift the card box with golden designs using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Set the small playingcards container in the brown basket, and shift the brown basket away.",
+    "Lift the card box with golden designs, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Pick up the blue carton for playingcards and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Take the palm-sized playingcards carton, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Move the playingcards box with white symbols to the basket for holding items, then shift the basket for holding items.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket for holding items, then move the basket for holding items.",
+    "Take the card box with golden designs, put the card box with golden designs into the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue playingcards box, drop it in the brown basket, shift the brown basket.",
+    "Use one arm to place the playingcards pack with blue top in the basket for carrying things."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode41.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rectangular blue playingcards case, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the basket with handle, slide the basket with handle lightly.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the rectangular blue playingcards case and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Grab the smooth playingcards holder, place it in the brown basket, then move the brown basket away.",
+    "Take the rectangular blue playingcards case, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the blue carton for playingcards, place it in the basket with handle, shift the basket with handle.",
+    "Grab the smooth playingcards holder and drop it in the basket for carrying things.",
+    "Pick the box of playingcards, put it inside the woven basket.",
+    "Lift the palm-sized playingcards carton, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Place the blue pack holding playingcards in the basket for holding items, then grab the basket for holding items.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the smooth ribbed light brown basket.",
+    "Pick up the playingcards pack with blue top and set it inside the oval-shaped basket with woven body.",
+    "Use one arm to place the card box with golden designs in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the card box with golden designs, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick the blue playingcards box, place it in the light brown oval basket.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the light brown oval basket.",
+    "Move the blue pack holding playingcards to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick up the rectangular blue playingcards case, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick up the playingcards pack with blue top, put it in the woven basket, shift the woven basket a little.",
+    "Set the playingcards box with white symbols in the basket for holding items, and shift the basket for holding items away.",
+    "Lift the box of playingcards using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the box of playingcards, then shift the basket made of woven wood.",
+    "Put the blue pack holding playingcards in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the blue pack holding playingcards in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the card box with golden designs, drop it in the woven basket, shift the woven basket.",
+    "Pick up the card box with golden designs and drop it in the woven basket, then move the woven basket.",
+    "Use one arm to grab the blue playingcards box, place it in the brown basket, then move the brown basket.",
+    "Use the left arm to grab the card box with golden designs, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the playingcards box with white symbols, set it into the wooden basket with curved handle.",
+    "Place the card box with golden designs into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Use one arm to place the playingcards pack with blue top in the woven basket.",
+    "Lift the blue and white playingcards packaging, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the box of playingcards, drop the box of playingcards in the basket with handle, slide the basket with handle lightly.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the rectangular blue playingcards case and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Grab the blue and white playingcards packaging, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Take the playingcards box with white symbols, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the card box with golden designs and drop it in the wooden basket with curved handle.",
+    "Pick the blue carton for playingcards, put it inside the basket for holding items.",
+    "Lift the card box with golden designs, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the basket for holding items.",
+    "Pick up the rectangular blue playingcards case and set it inside the light brown oval basket.",
+    "Use one arm to place the blue playingcards box in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the smooth playingcards holder, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket for carrying things.",
+    "Move the card box with golden designs to the basket for carrying things, then shift the basket for carrying things.",
+    "Pick up the box of playingcards, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Pick up the playingcards pack with blue top, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Set the playingcards box with white symbols in the basket with loop handle, and shift the basket with loop handle away.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Pick and move the blue playingcards box, then shift the basket made of woven wood.",
+    "Put the playingcards pack with blue top in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Grab the blue playingcards box, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Put the blue carton for playingcards in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the blue carton for playingcards, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue and white playingcards packaging and drop it in the woven basket, then move the woven basket.",
+    "Use one arm to grab the box of playingcards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Grab the palm-sized playingcards carton, set it into the brown basket.",
+    "Place the card box with golden designs into the basket for holding items and push the basket for holding items slightly away.",
+    "Use one arm to place the playingcards pack with blue top in the basket made of woven wood.",
+    "Lift the box of playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the woven basket, slide the woven basket lightly.",
+    "Take the blue playingcards box, put the blue playingcards box into the woven basket, shift the woven basket.",
+    "Pick the box of playingcards and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Grab the box of playingcards, place it in the basket with handle, then move the basket with handle away.",
+    "Take the smooth playingcards holder, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Pick the small playingcards container, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the card box with golden designs and drop it in the basket for carrying things.",
+    "Pick the blue playingcards box, put it inside the woven basket.",
+    "Lift the blue and white playingcards packaging, place it into the basket with loop handle, move the basket with loop handle.",
+    "Place the card box with golden designs in the brown basket, then grab the brown basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket for holding items.",
+    "Pick up the box of playingcards and set it inside the basket made of woven wood.",
+    "Use one arm to place the blue carton for playingcards in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop in the woven basket, and move the woven basket.",
+    "Pick the playingcards pack with blue top, place it in the brown basket with woven ridges.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the basket with loop handle.",
+    "Move the blue carton for playingcards to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Pick up the blue carton for playingcards, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Pick up the small playingcards container, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Set the palm-sized playingcards carton in the basket with handle, and shift the basket with handle away.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the blue carton for playingcards, then shift the smooth ribbed light brown basket.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Grab the box of playingcards, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Put the smooth playingcards holder in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the playingcards pack with blue top, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick up the playingcards box with white symbols and drop it in the basket with handle, then move the basket with handle.",
+    "Use one arm to grab the blue playingcards box, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Grab the box of playingcards, set it into the basket with loop handle.",
+    "Place the blue pack holding playingcards into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Use one arm to place the rectangular blue playingcards case in the light brown oval basket.",
+    "Lift the card box with golden designs, drop it in the woven basket, then slightly relocate the woven basket."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode42.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the playingcards box with white symbols in the basket with handle, and shift the basket with handle away.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the brown basket, and move the brown basket using the right arm.",
+    "Place the small playingcards container into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Pick up the blue playingcards box, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Place the blue and white playingcards packaging in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the brown basket.",
+    "Take the box of playingcards, put the box of playingcards into the basket with handle, shift the basket with handle.",
+    "Put the blue and white playingcards packaging in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Use one arm to place the blue playingcards box in the brown basket, adjust the brown basket.",
+    "Grab the card box with golden designs, drop it in the brown basket, shift the brown basket.",
+    "Grab the smooth playingcards holder, set it into the oval-shaped basket with woven body.",
+    "Put the blue carton for playingcards in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Lift the blue and white playingcards packaging using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Use one arm to place the blue playingcards box in the light brown oval basket.",
+    "Move the rectangular blue playingcards case to the woven basket, then shift the woven basket.",
+    "Grab the blue playingcards box, place it in the basket with handle, then move the basket with handle away.",
+    "Pick the box of playingcards, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the smooth playingcards holder and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the smooth playingcards holder and drop it in the smooth ribbed light brown basket.",
+    "Take the palm-sized playingcards carton, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick up the blue pack holding playingcards and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Lift the blue carton for playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick the playingcards box with white symbols, put it inside the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the blue pack holding playingcards, place it in the basket with loop handle.",
+    "Grab the blue pack holding playingcards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the blue playingcards box and set it inside the woven basket.",
+    "Pick up the blue pack holding playingcards, place it in the woven basket, grab the woven basket.",
+    "Use one arm to grab the blue playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket with loop handle.",
+    "Lift the small playingcards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick and move the smooth playingcards holder, then shift the basket with loop handle.",
+    "Set the blue playingcards box in the basket for holding items, and shift the basket for holding items away.",
+    "Use the left arm to grab the card box with golden designs, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Place the blue playingcards box into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Pick up the palm-sized playingcards carton, put it in the basket with handle, shift the basket with handle a little.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Place the box of playingcards in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the brown basket with woven ridges.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the small playingcards container in the basket with handle and pull the basket with handle away.",
+    "Use one arm to place the blue playingcards box in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket, shift the brown basket.",
+    "Grab the small playingcards container, set it into the basket for carrying things.",
+    "Put the blue pack holding playingcards in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Lift the blue playingcards box using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use one arm to place the playingcards box with white symbols in the woven basket.",
+    "Move the blue playingcards box to the brown basket, then shift the brown basket.",
+    "Grab the smooth playingcards holder, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Pick the box of playingcards, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the playingcards box with white symbols and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Grab the blue carton for playingcards and drop it in the basket made of woven wood.",
+    "Take the small playingcards container, set it in the basket with handle, shift the basket with handle lightly.",
+    "Pick up the rectangular blue playingcards case and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Lift the smooth playingcards holder, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the box of playingcards, put it inside the basket made of woven wood.",
+    "Grab the box of playingcards, drop in the basket with handle, and move the basket with handle.",
+    "Pick the small playingcards container, place it in the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the rectangular blue playingcards case and set it inside the brown basket with woven ridges.",
+    "Pick up the blue playingcards box, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use one arm to grab the blue playingcards box, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the brown basket.",
+    "Lift the rectangular blue playingcards case, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick and move the small playingcards container, then shift the brown basket with woven ridges.",
+    "Set the box of playingcards in the brown basket, and shift the brown basket away.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Place the blue carton for playingcards into the woven basket and push the woven basket slightly away.",
+    "Pick up the blue playingcards box, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the box of playingcards, drop the box of playingcards in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Place the blue and white playingcards packaging in the basket for carrying things, then grab the basket for carrying things.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the basket made of woven wood.",
+    "Take the small playingcards container, put the small playingcards container into the basket made of woven wood, shift the basket made of woven wood.",
+    "Put the playingcards pack with blue top in the basket with handle and pull the basket with handle away.",
+    "Use one arm to place the palm-sized playingcards carton in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards, drop it in the woven basket, shift the woven basket.",
+    "Grab the rectangular blue playingcards case, set it into the light brown oval basket.",
+    "Put the smooth playingcards holder in the basket for holding items, then move the basket for holding items away slightly.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Use one arm to place the box of playingcards in the brown basket.",
+    "Move the card box with golden designs to the basket for carrying things, then shift the basket for carrying things.",
+    "Grab the palm-sized playingcards carton, place it in the woven basket, then move the woven basket away.",
+    "Pick the small playingcards container, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the box of playingcards and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Grab the smooth playingcards holder and drop it in the smooth ribbed light brown basket.",
+    "Take the playingcards pack with blue top, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the card box with golden designs and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the playingcards box with white symbols, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the playingcards box with white symbols, put it inside the wooden basket with curved handle.",
+    "Grab the small playingcards container, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick the playingcards box with white symbols, place it in the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the smooth playingcards holder and set it inside the brown basket with woven ridges.",
+    "Pick up the playingcards box with white symbols, place it in the brown basket, grab the brown basket.",
+    "Use one arm to grab the small playingcards container, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the basket made of woven wood.",
+    "Lift the rectangular blue playingcards case, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick and move the card box with golden designs, then shift the basket with handle.",
+    "Set the box of playingcards in the basket made of woven wood, and shift the basket made of woven wood away."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode43.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the blue pack holding playingcards in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick up the box of playingcards and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop in the brown basket, and move the brown basket.",
+    "Use the left arm to grab the card box with golden designs, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Take the smooth playingcards holder, set it in the woven basket, shift the woven basket lightly.",
+    "Place the playingcards box with white symbols into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Pick the small playingcards container, put it inside the brown basket with woven ridges.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket for holding items, then move the basket for holding items.",
+    "Grab the palm-sized playingcards carton and drop it in the light brown oval basket.",
+    "Use one arm to place the smooth playingcards holder in the brown basket.",
+    "Place the blue playingcards box in the basket for holding items, then grab the basket for holding items.",
+    "Pick the box of playingcards, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the blue playingcards box and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the box of playingcards, place it in the woven basket.",
+    "Grab the blue and white playingcards packaging, drop it in the basket for holding items, shift the basket for holding items.",
+    "Lift the card box with golden designs, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Use one arm to place the blue and white playingcards packaging in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick up the blue and white playingcards packaging and set it inside the brown basket with woven ridges.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the basket for holding items.",
+    "Grab the blue playingcards box, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the smooth playingcards holder, set it into the brown basket.",
+    "Put the playingcards pack with blue top in the basket for holding items and pull the basket for holding items away.",
+    "Pick and move the blue carton for playingcards, then shift the basket for holding items.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket made of woven wood.",
+    "Put the blue carton for playingcards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Move the rectangular blue playingcards case to the light brown oval basket, then shift the light brown oval basket.",
+    "Pick up the blue and white playingcards packaging, put it in the brown basket, shift the brown basket a little.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the woven basket, shift the woven basket.",
+    "Lift the blue and white playingcards packaging, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick up the blue playingcards box, place it in the basket with handle, grab the basket with handle.",
+    "Grab the blue carton for playingcards, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Set the rectangular blue playingcards case in the woven basket, and shift the woven basket away.",
+    "Pick up the card box with golden designs and drop it in the woven basket, then move the woven basket.",
+    "Grab the playingcards pack with blue top, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Take the small playingcards container, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Place the playingcards box with white symbols into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Pick the rectangular blue playingcards case, put it inside the basket with loop handle.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the brown basket, then move the brown basket.",
+    "Grab the small playingcards container and drop it in the smooth ribbed light brown basket.",
+    "Use one arm to place the blue carton for playingcards in the wooden basket with curved handle.",
+    "Place the playingcards box with white symbols in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the playingcards pack with blue top, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the playingcards box with white symbols and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick the box of playingcards, place it in the oval-shaped basket with woven body.",
+    "Grab the smooth playingcards holder, drop it in the basket with handle, shift the basket with handle.",
+    "Lift the blue carton for playingcards, place it into the brown basket, move the brown basket.",
+    "Use one arm to place the playingcards pack with blue top in the woven basket, adjust the woven basket.",
+    "Pick up the smooth playingcards holder and set it inside the light brown oval basket.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the brown basket.",
+    "Grab the card box with golden designs, drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the playingcards box with white symbols, set it into the oval-shaped basket with woven body.",
+    "Put the smooth playingcards holder in the brown basket and pull the brown basket away.",
+    "Pick and move the blue carton for playingcards, then shift the brown basket with woven ridges.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the woven basket.",
+    "Put the small playingcards container in the basket for holding items, then move the basket for holding items away slightly.",
+    "Move the palm-sized playingcards carton to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Pick up the card box with golden designs, put it in the brown basket, shift the brown basket a little.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Take the small playingcards container, put the small playingcards container into the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the small playingcards container, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, place it in the brown basket, then move the brown basket away.",
+    "Set the box of playingcards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick up the box of playingcards and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the box of playingcards, drop in the basket for holding items, and move the basket for holding items.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Take the playingcards pack with blue top, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Place the blue and white playingcards packaging into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick the palm-sized playingcards carton, put it inside the brown basket.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the smooth playingcards holder and drop it in the wooden basket with curved handle.",
+    "Use one arm to place the smooth playingcards holder in the smooth ribbed light brown basket.",
+    "Place the playingcards pack with blue top in the basket with handle, then grab the basket with handle.",
+    "Pick the card box with golden designs, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the blue carton for playingcards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick the playingcards pack with blue top, place it in the basket with loop handle.",
+    "Grab the small playingcards container, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Lift the card box with golden designs, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Use one arm to place the blue playingcards box in the basket with handle, adjust the basket with handle.",
+    "Pick up the small playingcards container and set it inside the basket with handle.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the basket for carrying things.",
+    "Grab the small playingcards container, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the card box with golden designs, set it into the woven basket.",
+    "Put the card box with golden designs in the basket for holding items and pull the basket for holding items away.",
+    "Pick and move the smooth playingcards holder, then shift the woven basket.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the brown basket.",
+    "Put the rectangular blue playingcards case in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Move the blue pack holding playingcards to the woven basket, then shift the woven basket.",
+    "Pick up the palm-sized playingcards carton, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the brown basket, shift the brown basket.",
+    "Lift the blue playingcards box, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick up the card box with golden designs, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Grab the blue carton for playingcards, place it in the basket for holding items, then move the basket for holding items away.",
+    "Set the blue and white playingcards packaging in the light brown oval basket, and shift the light brown oval basket away."
+  ],
+  "unseen": [
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/instructions/episode44.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the smooth playingcards holder in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the box of playingcards in the basket made of woven wood.",
+    "Move the blue carton for playingcards to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the brown basket, slide the brown basket lightly.",
+    "Pick the playingcards pack with blue top, place it in the basket with handle, shift the basket with handle.",
+    "Use one arm to grab the smooth playingcards holder, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick up the blue carton for playingcards and set it inside the oval-shaped basket with woven body.",
+    "Use the left arm to grab the card box with golden designs, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Use one arm to place the blue pack holding playingcards in the basket for holding items, adjust the basket for holding items.",
+    "Put the card box with golden designs in the woven basket, then move the woven basket away slightly.",
+    "Place the blue and white playingcards packaging in the brown basket, then grab the brown basket.",
+    "Lift the playingcards box with white symbols, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Grab the small playingcards container, drop it in the basket with handle, then move the basket with handle.",
+    "Pick and move the playingcards pack with blue top, then shift the wooden basket with curved handle.",
+    "Grab the card box with golden designs, set it into the basket for carrying things.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the brown basket with woven ridges.",
+    "Pick the playingcards box with white symbols, place it in the basket for holding items.",
+    "Grab the playingcards pack with blue top and drop it in the basket for carrying things.",
+    "Place the box of playingcards into the basket with handle and push the basket with handle slightly away.",
+    "Lift the blue carton for playingcards, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Take the rectangular blue playingcards case, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Take the card box with golden designs, put the card box with golden designs into the woven basket, shift the woven basket.",
+    "Grab the small playingcards container, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the small playingcards container and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick the palm-sized playingcards carton, put it inside the brown basket.",
+    "Put the playingcards box with white symbols in the basket for holding items and pull the basket for holding items away.",
+    "Grab the blue pack holding playingcards, place it in the woven basket, then move the woven basket away.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Pick up the card box with golden designs, put it in the woven basket, shift the woven basket a little.",
+    "Pick up the blue and white playingcards packaging, place it in the basket for holding items, grab the basket for holding items.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the basket made of woven wood.",
+    "Pick up the box of playingcards and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the blue carton for playingcards, drop it in the brown basket, shift the brown basket.",
+    "Set the small playingcards container in the basket for carrying things, and shift the basket for carrying things away.",
+    "Use one arm to place the card box with golden designs in the basket with handle.",
+    "Move the small playingcards container to the light brown oval basket, then shift the light brown oval basket.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Pick the card box with golden designs, place it in the brown basket, shift the brown basket.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket made of woven wood.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Use one arm to place the small playingcards container in the brown basket, adjust the brown basket.",
+    "Put the rectangular blue playingcards case in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Place the rectangular blue playingcards case in the light brown oval basket, then grab the light brown oval basket.",
+    "Lift the rectangular blue playingcards case, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick and move the palm-sized playingcards carton, then shift the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder, set it into the woven basket.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with handle.",
+    "Pick the blue carton for playingcards, place it in the basket with loop handle.",
+    "Grab the card box with golden designs and drop it in the basket made of woven wood.",
+    "Place the playingcards pack with blue top into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the small playingcards container, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Take the small playingcards container, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Take the small playingcards container, put the small playingcards container into the woven basket, shift the woven basket.",
+    "Grab the playingcards pack with blue top, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the card box with golden designs and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick the smooth playingcards holder, put it inside the oval-shaped basket with woven body.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Grab the rectangular blue playingcards case, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Pick up the card box with golden designs, put it in the woven basket, shift the woven basket a little.",
+    "Pick up the small playingcards container, place it in the brown basket, grab the brown basket.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the small playingcards container and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the card box with golden designs, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Set the small playingcards container in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Use one arm to place the playingcards box with white symbols in the oval-shaped basket with woven body.",
+    "Move the rectangular blue playingcards case to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the brown basket, slide the brown basket lightly.",
+    "Pick the playingcards box with white symbols, place it in the basket with handle, shift the basket with handle.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the box of playingcards and set it inside the basket for holding items.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Use one arm to place the smooth playingcards holder in the woven basket, adjust the woven basket.",
+    "Put the card box with golden designs in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Lift the smooth playingcards holder, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket, then move the brown basket.",
+    "Pick and move the blue playingcards box, then shift the basket with handle.",
+    "Grab the palm-sized playingcards carton, set it into the basket with loop handle.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket for holding items.",
+    "Pick the blue pack holding playingcards, place it in the light brown oval basket.",
+    "Grab the blue and white playingcards packaging and drop it in the woven basket.",
+    "Place the rectangular blue playingcards case into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Lift the smooth playingcards holder, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Take the rectangular blue playingcards case, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Take the card box with golden designs, put the card box with golden designs into the basket with loop handle, shift the basket with loop handle.",
+    "Grab the playingcards pack with blue top, drop in the brown basket, and move the brown basket.",
+    "Pick the smooth playingcards holder and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the small playingcards container, put it inside the basket with handle.",
+    "Put the blue pack holding playingcards in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the card box with golden designs, place it in the brown basket, then move the brown basket away.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Pick up the blue playingcards box, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick up the rectangular blue playingcards case, place it in the basket with handle, grab the basket with handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the blue playingcards box, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Set the playingcards pack with blue top in the wooden basket with curved handle, and shift the wooden basket with curved handle away."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges."
+  ]
+}

camera_table/train/place_object_basket/rtgen_camera_table_train_place_object_basket_d435_nominal_table/seed.txt

@@ -0,0 +1 @@
+1310261863 1659498971 28740216 1008548080 1108269975 1393113792 2063911582 661855779 649218984 802486003 965230662 2066009390 2040677750 463117026 447305227 1707531177 1773689334 1749021820 1257027417 1756539986 351817400 896216973 1031054025 2134024210 619416496 990260767 322539483 1661899628 804807041 1783271146 268364990 1545265682 1212930727 1230217074 1636000301 1632299527 1082115771 981175901 1379076225 1390991737 1574177176 557215956 1852581104 379318987 969581852 46213005 1645594060 561095653 359873943 1750559656 

camera_table/train/rotate_qrcode/rtgen_camera_table_train_rotate_qrcode_d435_nominal_table/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the qrcode visible.",
+    "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.",
+    "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.",
+    "Find the beige paymentsign, grab it, and turn it towards yourself.",
+    "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.",
+    "Pick the paymentsign resting on angled base up, then rotate to make its qrcode visible.",
+    "Lift the beige paymentsign with printed details from the table and rotate it towards you",
+    "Pick up the compact paymentsign for scanning payments and adjust its position to face the qrcode towards you.",
+    "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.",
+    "Use the left arm to take the paymentsign showing QR code label and turn it until the QR code faces you",
+    "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.",
+    "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.",
+    "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.",
+    "Grab the stand-up paymentsign with rectangular top with the left arm, then rotate it to face yourself.",
+    "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate the QR code to face forward.",
+    "Lift the beige paymentsign and rotate it until the QR code faces you.",
+    "Use the left arm to grab the beige paymentsign with printed details and point its QR code toward you.",
+    "Using the left arm, catch the QR code paymentsign and rotate it to face the QR code.",
+    "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.",
+    "Locate the paymentsign with blue and white text, pick it up, and adjust its angle.",
+    "Lift the rectangular paymentsign with colorful top and rotate until its qrcode faces you.",
+    "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward",
+    "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you",
+    "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.",
+    "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.",
+    "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.",
+    "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to view the qrcode.",
+    "Slide the small paymentsign for mobile payments off the table and turn it to face you.",
+    "Lift the beige paymentsign from the table, turning it QR code forward.",
+    "Employ the left arm to seize the beige paymentsign, raise it, and rotate it QR-forward",
+    "Lift the beige paymentsign and orient its QR code toward you with the left arm.",
+    "Catch the beige paymentsign, pick it up, and rotate to show the QR code.",
+    "Catch the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the QR code visible.",
+    "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.",
+    "Pick up the beige paymentsign with printed details and rotate it so the QR code faces you",
+    "Grab the stand-up paymentsign with rectangular top using the left arm, lift, and rotate until QR code faces you.",
+    "Catch the smooth beige paymentsign off the table and rotate its qrcode to you.",
+    "Pick the small paymentsign for mobile payments up and turn its QR code toward you using the left arm.",
+    "Catch the stand-up paymentsign with rectangular top using the left arm, pick it up, and turn it to face the QR code.",
+    "Take the small paymentsign for mobile payments, lift it, and orient it so the QR faces you",
+    "Use the left arm to pick the small paymentsign for mobile payments and turn it towards you.",
+    "Use the left arm to lift the beige paymentsign from the table and face the qrcode.",
+    "Lift the paymentsign with blue and white text from the surface and adjust its angle towards you",
+    "Use the left arm to lift the QR code paymentsign and rotate it QR code toward you.",
+    "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward",
+    "Catch the paymentsign resting on angled base, lift, and rotate to align the qrcode to you.",
+    "Lift the QR code paymentsign from the table and rotate it so the code faces you.",
+    "Lift the paymentsign resting on angled base with the left arm, then rotate it to make the qrcode visible.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and rotate the qrcode to face you.",
+    "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.",
+    "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.",
+    "Use the left arm to grab the paymentsign showing QR code label, rotate, and face the QR code towards you.",
+    "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.",
+    "Lift the smooth beige paymentsign from the table and rotate it towards you",
+    "Pick up the beige paymentsign with printed details and adjust its position to face the qrcode towards you.",
+    "Grab the stand-up paymentsign with rectangular top using the left arm, then rotate it until the qrcode faces you.",
+    "Use the left arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you",
+    "Lift the paymentsign with blue and white text from the table and turn it to face you.",
+    "Catch the paymentsign with tilted rectangular panel, lift it, and turn the qrcode towards you.",
+    "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.",
+    "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.",
+    "Grab the compact paymentsign for scanning payments using the left arm, then rotate the QR code to face forward.",
+    "Lift the compact paymentsign for scanning payments and rotate it until the QR code faces you.",
+    "Use the left arm to grab the smooth beige paymentsign and point its QR code toward you.",
+    "Using the left arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.",
+    "Lift the rectangular paymentsign with colorful top and rotate for its qrcode to face you.",
+    "Locate the beige paymentsign, pick it up, and adjust its angle.",
+    "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.",
+    "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.",
+    "Use the left arm to grab the paymentsign resting on angled base, lift, and turn it QR code forward",
+    "Catch the beige paymentsign, raise it, and turn it so the QR code faces you",
+    "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.",
+    "Take the beige paymentsign, raise it, and make the qrcode face you.",
+    "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.",
+    "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.",
+    "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.",
+    "Lift the rectangular paymentsign with colorful top from the table, turning it QR code forward.",
+    "Employ the left arm to seize the rectangular paymentsign with colorful top, raise it, and rotate it QR-forward",
+    "Lift the smooth beige paymentsign and orient its QR code toward you with the left arm.",
+    "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.",
+    "Catch the QR code paymentsign with the left arm, then rotate it to make the QR code visible.",
+    "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.",
+    "Pick up the QR code paymentsign and rotate it so the QR code faces you",
+    "Grab the paymentsign with tilted rectangular panel using the left arm, lift, and rotate until QR code faces you.",
+    "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.",
+    "Pick the paymentsign resting on angled base up and turn its QR code toward you using the left arm.",
+    "Catch the paymentsign with blue and white text using the left arm, pick it up, and turn it to face the QR code.",
+    "Take the stand-up paymentsign with rectangular top, lift it, and orient it so the QR faces you",
+    "Use the left arm to pick the beige paymentsign with printed details and turn it towards you.",
+    "Use the left arm to lift the smooth beige paymentsign from the table and face the qrcode.",
+    "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you",
+    "Use the left arm to lift the paymentsign with tilted rectangular panel and rotate it QR code toward you.",
+    "Grab the paymentsign showing QR code label, lift it from the table, and rotate it QR front",
+    "Use the left arm to grab the paymentsign with blue and white text and rotate QR code towards you.",
+    "Use the left arm to grab the beige paymentsign and rotate it until the QR faces forward",
+    "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.",
+    "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you."
+  ],
+  "unseen": [
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you."
+  ]
+}

camera_table/train/rotate_qrcode/rtgen_camera_table_train_rotate_qrcode_d435_nominal_table/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the beige paymentsign with printed details and rotate it QR code toward you.",
+    "Pick the beige paymentsign with printed details up and turn its QR code toward you using the left arm.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate it until the QR faces forward",
+    "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.",
+    "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.",
+    "Catch the beige paymentsign with the left arm, then rotate it to make the QR code visible.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.",
+    "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you",
+    "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.",
+    "Lift the beige paymentsign from the table and turn it to face you.",
+    "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.",
+    "Lift the small paymentsign for mobile payments and orient its QR code toward you with the left arm.",
+    "Lift the paymentsign with blue and white text from the table, turning it QR code forward.",
+    "Use the left arm to grab the smooth beige paymentsign and rotate QR code towards you.",
+    "Use the left arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.",
+    "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you",
+    "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.",
+    "Pick the QR code paymentsign up, then rotate to make its qrcode visible.",
+    "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.",
+    "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.",
+    "Use the left arm to lift the smooth beige paymentsign from the table and face the qrcode.",
+    "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.",
+    "Grab the paymentsign resting on angled base using the left arm, lift, and rotate until QR code faces you.",
+    "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.",
+    "Use the left arm to grab the paymentsign with blue and white text and point its QR code toward you.",
+    "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.",
+    "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you",
+    "Catch the smooth beige paymentsign using the left arm, pick it up, and turn it to face the QR code.",
+    "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.",
+    "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.",
+    "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.",
+    "Employ the left arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward",
+    "Use the left arm to pick the paymentsign showing QR code label and turn it towards you.",
+    "Use the left arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward",
+    "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.",
+    "Slide the compact paymentsign for scanning payments off the table and turn it to face you.",
+    "Use the left arm to take the beige paymentsign with printed details and turn it until the QR code faces you",
+    "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.",
+    "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.",
+    "Find the paymentsign with tilted rectangular panel, grab it, and turn it towards yourself.",
+    "Catch and lift the smooth beige paymentsign, then turn it to show the QR code.",
+    "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate the QR code to face forward.",
+    "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.",
+    "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.",
+    "Lift the paymentsign with tilted rectangular panel and rotate it until the QR code faces you.",
+    "Lift the paymentsign with blue and white text from the table and rotate it towards you",
+    "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front",
+    "Catch the QR code paymentsign, lift it, and rotate it QR code facing.",
+    "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.",
+    "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you",
+    "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.",
+    "Pick the paymentsign showing QR code label up and turn its QR code toward you using the left arm.",
+    "Use the left arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward",
+    "Pick up the stand-up paymentsign with rectangular top and adjust its position to face the qrcode towards you.",
+    "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.",
+    "Catch the beige paymentsign with printed details with the left arm, then rotate it to make the QR code visible.",
+    "Use the left arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.",
+    "Pick up the paymentsign showing QR code label and rotate it so the QR code faces you",
+    "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.",
+    "Lift the smooth beige paymentsign from the table and turn it to face you.",
+    "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.",
+    "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the left arm.",
+    "Lift the smooth beige paymentsign from the table, turning it QR code forward.",
+    "Use the left arm to grab the beige paymentsign and rotate QR code towards you.",
+    "Use the left arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.",
+    "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you",
+    "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.",
+    "Pick the paymentsign with blue and white text up, then rotate to make its qrcode visible.",
+    "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.",
+    "Using the left arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.",
+    "Use the left arm to lift the small paymentsign for mobile payments from the table and face the qrcode.",
+    "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to show the QR code.",
+    "Grab the small paymentsign for mobile payments using the left arm, lift, and rotate until QR code faces you.",
+    "Grab the stand-up paymentsign with rectangular top using the left arm, then rotate it until the qrcode faces you.",
+    "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.",
+    "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.",
+    "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you",
+    "Catch the beige paymentsign using the left arm, pick it up, and turn it to face the QR code.",
+    "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.",
+    "Lift the small paymentsign for mobile payments and rotate for its qrcode to face you.",
+    "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.",
+    "Employ the left arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward",
+    "Use the left arm to pick the paymentsign with tilted rectangular panel and turn it towards you.",
+    "Use the left arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward",
+    "Locate the stand-up paymentsign with rectangular top, pick it up, and adjust its angle.",
+    "Slide the QR code paymentsign off the table and turn it to face you.",
+    "Use the left arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you",
+    "Catch the QR code paymentsign, lift it, and turn the qrcode towards you.",
+    "Lift the rectangular paymentsign with colorful top and rotate until its qrcode faces you.",
+    "Find the paymentsign with blue and white text, grab it, and turn it towards yourself.",
+    "Catch and lift the smooth beige paymentsign, then turn it to show the QR code.",
+    "Grab the beige paymentsign using the left arm, then rotate the QR code to face forward.",
+    "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.",
+    "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.",
+    "Lift the QR code paymentsign and rotate it until the QR code faces you.",
+    "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you",
+    "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front",
+    "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.",
+    "Lift the paymentsign showing QR code label from the table and rotate it so the code faces you.",
+    "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you"
+  ],
+  "unseen": [
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you."
+  ]
+}

camera_table/train/rotate_qrcode/rtgen_camera_table_train_rotate_qrcode_d435_nominal_table/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.",
+    "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.",
+    "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you",
+    "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.",
+    "Use the left arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.",
+    "Lift the beige paymentsign from the surface and adjust its angle towards you",
+    "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.",
+    "Lift the paymentsign with blue and white text with the left arm, then rotate it to make the qrcode visible.",
+    "Lift the beige paymentsign and orient its QR code toward you with the left arm.",
+    "Employ the left arm to seize the beige paymentsign, raise it, and rotate it QR-forward",
+    "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.",
+    "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.",
+    "Catch and lift the beige paymentsign, then turn it to show the QR code.",
+    "Lift the small paymentsign for mobile payments from the table and turn it to face you.",
+    "Slide the QR code paymentsign off the table and turn it to face you.",
+    "Take the paymentsign resting on angled base from the table, rotating it QR code toward you.",
+    "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.",
+    "Lift the rectangular paymentsign with colorful top from the table, turning it QR code forward.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.",
+    "Catch the paymentsign with blue and white text with the left arm, then rotate it to make the QR code visible.",
+    "Use the left arm to pick the stand-up paymentsign with rectangular top and turn it towards you.",
+    "Use the left arm to grab the beige paymentsign, lift, and turn it QR code forward",
+    "Use the left arm to grab the compact paymentsign for scanning payments and rotate QR code towards you.",
+    "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.",
+    "Using the left arm, catch the beige paymentsign and rotate it to face the QR code.",
+    "Grab the rectangular paymentsign with colorful top using the left arm, then rotate the QR code to face forward.",
+    "Catch the rectangular paymentsign with colorful top off the table and rotate its qrcode to you.",
+    "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front",
+    "Find the paymentsign with blue and white text, grab it, and turn it towards yourself.",
+    "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.",
+    "Use the left arm to lift the paymentsign showing QR code label and rotate it QR code toward you.",
+    "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you",
+    "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.",
+    "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.",
+    "Grab the QR code paymentsign using the left arm, lift, and rotate until QR code faces you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.",
+    "Use the left arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.",
+    "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you",
+    "Grab the paymentsign with tilted rectangular panel with the left arm, then rotate it to face yourself.",
+    "Catch the beige paymentsign using the left arm, pick it up, and turn it to face the QR code.",
+    "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm.",
+    "Lift the compact paymentsign for scanning payments and rotate for its qrcode to face you.",
+    "Use the left arm to grab the QR code paymentsign and rotate it until the QR faces forward",
+    "Lift the smooth beige paymentsign and rotate until its qrcode faces you.",
+    "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.",
+    "Catch the paymentsign resting on angled base, lift it, and adjust its QR code to face you.",
+    "Lift the QR code paymentsign and rotate it until the QR code faces you.",
+    "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.",
+    "Lift the beige paymentsign from the table and rotate it towards you",
+    "Use the left arm to take the beige paymentsign with printed details and turn it until the QR code faces you",
+    "Pick the beige paymentsign up, then rotate to make its qrcode visible.",
+    "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.",
+    "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you",
+    "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.",
+    "Use the left arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.",
+    "Lift the smooth beige paymentsign from the surface and adjust its angle towards you",
+    "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.",
+    "Lift the paymentsign with blue and white text with the left arm, then rotate it to make the qrcode visible.",
+    "Lift the stand-up paymentsign with rectangular top and orient its QR code toward you with the left arm.",
+    "Employ the left arm to seize the paymentsign with tilted rectangular panel, raise it, and rotate it QR-forward",
+    "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.",
+    "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.",
+    "Catch and lift the QR code paymentsign, then turn it to show the QR code.",
+    "Lift the paymentsign with tilted rectangular panel from the table and turn it to face you.",
+    "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.",
+    "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.",
+    "Locate the QR code paymentsign, pick it up, and adjust its angle.",
+    "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.",
+    "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.",
+    "Catch the rectangular paymentsign with colorful top with the left arm, then rotate it to make the QR code visible.",
+    "Use the left arm to pick the smooth beige paymentsign and turn it towards you.",
+    "Use the left arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.",
+    "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.",
+    "Using the left arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.",
+    "Grab the stand-up paymentsign with rectangular top using the left arm, then rotate the QR code to face forward.",
+    "Catch the QR code paymentsign off the table and rotate its qrcode to you.",
+    "Grab the paymentsign resting on angled base, lift it from the table, and rotate it QR front",
+    "Find the QR code paymentsign, grab it, and turn it towards yourself.",
+    "Catch the stand-up paymentsign with rectangular top, lift it, and turn the qrcode towards you.",
+    "Use the left arm to lift the paymentsign with tilted rectangular panel and rotate it QR code toward you.",
+    "Take the QR code paymentsign, lift it, and orient it so the QR faces you",
+    "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.",
+    "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.",
+    "Grab the stand-up paymentsign with rectangular top using the left arm, lift, and rotate until QR code faces you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.",
+    "Use the left arm to lift the beige paymentsign from the table and face the qrcode.",
+    "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you",
+    "Grab the stand-up paymentsign with rectangular top with the left arm, then rotate it to face yourself.",
+    "Catch the beige paymentsign with printed details using the left arm, pick it up, and turn it to face the QR code.",
+    "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the left arm.",
+    "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.",
+    "Use the left arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward",
+    "Lift the smooth beige paymentsign and rotate until its qrcode faces you.",
+    "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to view the qrcode.",
+    "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.",
+    "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.",
+    "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate it until the qrcode faces you.",
+    "Lift the QR code paymentsign from the table and rotate it towards you",
+    "Use the left arm to take the paymentsign resting on angled base and turn it until the QR code faces you"
+  ],
+  "unseen": [
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it facing you."
+  ]
+}

camera_table/train/rotate_qrcode/rtgen_camera_table_train_rotate_qrcode_d435_nominal_table/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Employ the left arm to seize the beige paymentsign, raise it, and rotate it QR-forward",
+    "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the left arm.",
+    "Catch the beige paymentsign, lift it, and adjust its QR code to face you.",
+    "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.",
+    "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.",
+    "Use the left arm to pick the paymentsign with tilted rectangular panel and turn it towards you.",
+    "Use the left arm to grab the smooth beige paymentsign and rotate it until the QR faces forward",
+    "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.",
+    "Use the left arm to lift the beige paymentsign with printed details from the table and face the qrcode.",
+    "Grab the small paymentsign for mobile payments using the left arm, lift, and rotate until QR code faces you.",
+    "Grab the smooth beige paymentsign using the left arm, then rotate the QR code to face forward.",
+    "Slide the paymentsign with blue and white text off the table and turn it to face you.",
+    "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you",
+    "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.",
+    "Grab the stand-up paymentsign with rectangular top with the left arm, then rotate it to face yourself.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.",
+    "Catch the QR code paymentsign, lift it, and rotate it QR code facing.",
+    "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.",
+    "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.",
+    "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.",
+    "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.",
+    "Use the left arm to grab the QR code paymentsign and rotate the qrcode to face you.",
+    "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front",
+    "Lift the paymentsign showing QR code label from the table and rotate it towards you",
+    "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.",
+    "Lift the paymentsign resting on angled base with the left arm, then rotate it to make the qrcode visible.",
+    "Catch the small paymentsign for mobile payments using the left arm, pick it up, and turn it to face the QR code.",
+    "Using the left arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.",
+    "Lift the paymentsign showing QR code label from the table, turning it QR code forward.",
+    "Locate the beige paymentsign, pick it up, and adjust its angle.",
+    "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.",
+    "Pick up the paymentsign showing QR code label and rotate it so the QR code faces you",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.",
+    "Use the left arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward",
+    "Catch the beige paymentsign, pick it up, and rotate to show the QR code.",
+    "Use the left arm to grab the paymentsign showing QR code label and rotate QR code towards you.",
+    "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.",
+    "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.",
+    "Lift the QR code paymentsign and rotate for its qrcode to face you.",
+    "Find the QR code paymentsign, grab it, and turn it towards yourself.",
+    "Use the left arm to take the beige paymentsign with printed details and turn it until the QR code faces you",
+    "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.",
+    "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the left arm.",
+    "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.",
+    "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you",
+    "Grab the compact paymentsign for scanning payments using the left arm, then rotate it until the qrcode faces you.",
+    "Catch the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the QR code visible.",
+    "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you",
+    "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.",
+    "Catch the paymentsign showing QR code label, pick it up, and rotate to view the qrcode.",
+    "Employ the left arm to seize the QR code paymentsign, raise it, and rotate it QR-forward",
+    "Pick the rectangular paymentsign with colorful top up and turn its QR code toward you using the left arm.",
+    "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.",
+    "Lift the paymentsign showing QR code label from the table and turn it to face you.",
+    "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.",
+    "Use the left arm to pick the beige paymentsign with printed details and turn it towards you.",
+    "Use the left arm to grab the QR code paymentsign and rotate it until the QR faces forward",
+    "Pick up the stand-up paymentsign with rectangular top and adjust its position to face the qrcode towards you.",
+    "Use the left arm to lift the beige paymentsign from the table and face the qrcode.",
+    "Grab the paymentsign resting on angled base using the left arm, lift, and rotate until QR code faces you.",
+    "Grab the smooth beige paymentsign using the left arm, then rotate the QR code to face forward.",
+    "Slide the paymentsign resting on angled base off the table and turn it to face you.",
+    "Lift the QR code paymentsign from the surface and adjust its angle towards you",
+    "Lift the paymentsign showing QR code label from the table and rotate it so the code faces you.",
+    "Grab the small paymentsign for mobile payments with the left arm, then rotate it to face yourself.",
+    "Use the left arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.",
+    "Catch the QR code paymentsign, lift it, and rotate it QR code facing.",
+    "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.",
+    "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.",
+    "Pick the QR code paymentsign up, then rotate to make its qrcode visible.",
+    "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.",
+    "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front",
+    "Lift the paymentsign showing QR code label from the table and rotate it towards you",
+    "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.",
+    "Lift the beige paymentsign with printed details with the left arm, then rotate it to make the qrcode visible.",
+    "Catch the QR code paymentsign using the left arm, pick it up, and turn it to face the QR code.",
+    "Using the left arm, catch the smooth beige paymentsign and rotate it to face the QR code.",
+    "Lift the paymentsign resting on angled base from the table, turning it QR code forward.",
+    "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.",
+    "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.",
+    "Pick up the beige paymentsign and rotate it so the QR code faces you",
+    "Use the left arm to grab the small paymentsign for mobile payments and point its QR code toward you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top, lift, and turn it QR code forward",
+    "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.",
+    "Use the left arm to grab the small paymentsign for mobile payments and rotate QR code towards you.",
+    "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.",
+    "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.",
+    "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.",
+    "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.",
+    "Use the left arm to take the paymentsign with tilted rectangular panel and turn it until the QR code faces you",
+    "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.",
+    "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the left arm.",
+    "Catch the beige paymentsign with printed details, lift it, and turn the qrcode towards you.",
+    "Take the paymentsign with tilted rectangular panel, lift it, and orient it so the QR faces you",
+    "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.",
+    "Catch the beige paymentsign with printed details with the left arm, then rotate it to make the QR code visible.",
+    "Catch the compact paymentsign for scanning payments, raise it, and turn it so the QR code faces you",
+    "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.",
+    "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode."
+  ],
+  "unseen": [
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Pick the tabletop paymentsign up from the table and rotate it."
+  ]
+}

camera_table/train/rotate_qrcode/rtgen_camera_table_train_rotate_qrcode_d435_nominal_table/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.",
+    "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate it until the qrcode faces you.",
+    "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.",
+    "Use the left arm to grab the paymentsign resting on angled base and point its QR code toward you.",
+    "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you",
+    "Grab the beige paymentsign using the left arm, then rotate the QR code to face forward.",
+    "Catch the small paymentsign for mobile payments with the left arm, then rotate it to make the QR code visible.",
+    "Slide the paymentsign resting on angled base off the table and turn it to face you.",
+    "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you",
+    "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.",
+    "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward",
+    "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.",
+    "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.",
+    "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.",
+    "Use the left arm to lift the small paymentsign for mobile payments from the table and face the qrcode.",
+    "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.",
+    "Employ the left arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward",
+    "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.",
+    "Use the left arm to grab the paymentsign showing QR code label and rotate QR code towards you.",
+    "Pick the paymentsign resting on angled base up and turn its QR code toward you using the left arm.",
+    "Use the left arm to take the smooth beige paymentsign and turn it until the QR code faces you",
+    "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.",
+    "Catch the beige paymentsign using the left arm, pick it up, and turn it to face the QR code.",
+    "Catch and lift the beige paymentsign with printed details, then turn it to show the QR code.",
+    "Lift the paymentsign with blue and white text with the left arm, then rotate it to make the qrcode visible.",
+    "Use the left arm to lift the paymentsign resting on angled base and rotate it QR code toward you.",
+    "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you",
+    "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.",
+    "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front",
+    "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.",
+    "Use the left arm to grab the QR code paymentsign, lift, and turn it QR code forward",
+    "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.",
+    "Lift the paymentsign with blue and white text and orient its QR code toward you with the left arm.",
+    "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.",
+    "Lift the beige paymentsign from the surface and adjust its angle towards you",
+    "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.",
+    "Locate the QR code paymentsign, pick it up, and adjust its angle.",
+    "Lift the beige paymentsign from the table and turn it to face you.",
+    "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.",
+    "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.",
+    "Grab the smooth beige paymentsign using the left arm, lift, and rotate until QR code faces you.",
+    "Use the left arm to pick the rectangular paymentsign with colorful top and turn it towards you.",
+    "Catch the QR code paymentsign, lift it, and rotate it QR code facing.",
+    "Find the beige paymentsign, grab it, and turn it towards yourself.",
+    "Pick the stand-up paymentsign with rectangular top up, then rotate to make its qrcode visible.",
+    "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.",
+    "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.",
+    "Take the beige paymentsign, raise it, and make the qrcode face you.",
+    "Pick up the compact paymentsign for scanning payments and rotate it so the QR code faces you",
+    "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.",
+    "Grab the paymentsign showing QR code label using the left arm, then rotate it until the qrcode faces you.",
+    "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.",
+    "Use the left arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.",
+    "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you",
+    "Grab the stand-up paymentsign with rectangular top using the left arm, then rotate the QR code to face forward.",
+    "Catch the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the QR code visible.",
+    "Slide the paymentsign with blue and white text off the table and turn it to face you.",
+    "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you",
+    "Lift the smooth beige paymentsign and rotate it until the QR code faces you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward",
+    "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.",
+    "Use the left arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.",
+    "Lift the QR code paymentsign from the table and rotate it so the code faces you.",
+    "Use the left arm to lift the paymentsign resting on angled base from the table and face the qrcode.",
+    "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.",
+    "Employ the left arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward",
+    "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.",
+    "Use the left arm to grab the beige paymentsign with printed details and rotate QR code towards you.",
+    "Pick the rectangular paymentsign with colorful top up and turn its QR code toward you using the left arm.",
+    "Use the left arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you",
+    "Lift the QR code paymentsign from the table, turning it QR code forward.",
+    "Catch the compact paymentsign for scanning payments using the left arm, pick it up, and turn it to face the QR code.",
+    "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.",
+    "Lift the beige paymentsign with printed details with the left arm, then rotate it to make the qrcode visible.",
+    "Use the left arm to lift the beige paymentsign with printed details and rotate it QR code toward you.",
+    "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you",
+    "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.",
+    "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front",
+    "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.",
+    "Use the left arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward",
+    "Pick up the stand-up paymentsign with rectangular top and adjust its position to face the qrcode towards you.",
+    "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the left arm.",
+    "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.",
+    "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you",
+    "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.",
+    "Locate the paymentsign with blue and white text, pick it up, and adjust its angle.",
+    "Lift the beige paymentsign from the table and turn it to face you.",
+    "Lift the paymentsign with tilted rectangular panel and rotate until its qrcode faces you.",
+    "Use the left arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.",
+    "Grab the paymentsign with blue and white text with the left arm, then rotate it to face yourself.",
+    "Grab the paymentsign with blue and white text using the left arm, lift, and rotate until QR code faces you.",
+    "Use the left arm to pick the compact paymentsign for scanning payments and turn it towards you.",
+    "Catch the paymentsign with blue and white text, lift it, and rotate it QR code facing.",
+    "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.",
+    "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.",
+    "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to show the QR code.",
+    "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.",
+    "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.",
+    "Pick up the beige paymentsign with printed details and rotate it so the QR code faces you"
+  ],
+  "unseen": [
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with angled stand up from the table and rotate it."
+  ]
+}

camera_table/train/rotate_qrcode/rtgen_camera_table_train_rotate_qrcode_d435_nominal_table/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the beige paymentsign and turn it until the QR code faces you",
+    "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.",
+    "Use the left arm to lift the small paymentsign for mobile payments from the table and face the qrcode.",
+    "Catch the smooth beige paymentsign off the table and rotate its qrcode to you.",
+    "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.",
+    "Use the left arm to grab the paymentsign with tilted rectangular panel, rotate, and face the QR code towards you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.",
+    "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.",
+    "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.",
+    "Catch the paymentsign showing QR code label, pick it up, and rotate to view the qrcode.",
+    "Lift the paymentsign with tilted rectangular panel from the table and turn it to face you.",
+    "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.",
+    "Employ the left arm to seize the paymentsign with tilted rectangular panel, raise it, and rotate it QR-forward",
+    "Locate the paymentsign with blue and white text, pick it up, and adjust its angle.",
+    "Catch the paymentsign showing QR code label using the left arm, pick it up, and turn it to face the QR code.",
+    "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you",
+    "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you",
+    "Lift the beige paymentsign with printed details from the table, turning it QR code forward.",
+    "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.",
+    "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.",
+    "Grab the paymentsign with blue and white text using the left arm, lift, and rotate until QR code faces you.",
+    "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the left arm.",
+    "Lift the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the qrcode visible.",
+    "Grab the beige paymentsign, lift it from the table, and rotate it QR front",
+    "Lift the smooth beige paymentsign and rotate it until the QR code faces you.",
+    "Use the left arm to grab the beige paymentsign and rotate it until the QR faces forward",
+    "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you",
+    "Use the left arm to grab the QR code paymentsign and rotate the qrcode to face you.",
+    "Grab the beige paymentsign using the left arm, then rotate the QR code to face forward.",
+    "Take the rectangular paymentsign with colorful top from the table, rotating it QR code toward you.",
+    "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.",
+    "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.",
+    "Catch the compact paymentsign for scanning payments, raise it, and turn it so the QR code faces you",
+    "Pick the paymentsign showing QR code label up and turn its QR code toward you using the left arm.",
+    "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.",
+    "Find the beige paymentsign, grab it, and turn it towards yourself.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top, lift, and turn it QR code forward",
+    "Grab the beige paymentsign using the left arm, then rotate it until the qrcode faces you.",
+    "Lift the beige paymentsign with printed details from the table and rotate it towards you",
+    "Use the left arm to pick the paymentsign with tilted rectangular panel and turn it towards you.",
+    "Slide the beige paymentsign off the table and turn it to face you.",
+    "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.",
+    "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.",
+    "Lift the QR code paymentsign and rotate until its qrcode faces you.",
+    "Pick up the smooth beige paymentsign and adjust its position to face the qrcode towards you.",
+    "Catch the paymentsign with blue and white text, lift, and rotate to align the qrcode to you.",
+    "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.",
+    "Catch the paymentsign showing QR code label with the left arm, then rotate it to make the QR code visible.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.",
+    "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.",
+    "Use the left arm to take the beige paymentsign with printed details and turn it until the QR code faces you",
+    "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.",
+    "Use the left arm to lift the paymentsign with blue and white text from the table and face the qrcode.",
+    "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.",
+    "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.",
+    "Use the left arm to grab the smooth beige paymentsign and point its QR code toward you.",
+    "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.",
+    "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.",
+    "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.",
+    "Lift the paymentsign with blue and white text from the table and turn it to face you.",
+    "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.",
+    "Employ the left arm to seize the beige paymentsign, raise it, and rotate it QR-forward",
+    "Locate the beige paymentsign, pick it up, and adjust its angle.",
+    "Catch the small paymentsign for mobile payments using the left arm, pick it up, and turn it to face the QR code.",
+    "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you",
+    "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you",
+    "Lift the QR code paymentsign from the table, turning it QR code forward.",
+    "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.",
+    "Grab the paymentsign with tilted rectangular panel, pick it up, and turn its qrcode toward you.",
+    "Grab the paymentsign with blue and white text using the left arm, lift, and rotate until QR code faces you.",
+    "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the left arm.",
+    "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.",
+    "Grab the QR code paymentsign, lift it from the table, and rotate it QR front",
+    "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.",
+    "Use the left arm to grab the QR code paymentsign and rotate it until the QR faces forward",
+    "Lift the rectangular paymentsign with colorful top from the surface and adjust its angle towards you",
+    "Use the left arm to grab the beige paymentsign and rotate the qrcode to face you.",
+    "Grab the paymentsign with blue and white text using the left arm, then rotate the QR code to face forward.",
+    "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.",
+    "Grab the paymentsign resting on angled base with the left arm, then rotate it to face yourself.",
+    "Use the left arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.",
+    "Catch the compact paymentsign for scanning payments, raise it, and turn it so the QR code faces you",
+    "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the left arm.",
+    "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.",
+    "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.",
+    "Use the left arm to grab the smooth beige paymentsign, lift, and turn it QR code forward",
+    "Grab the stand-up paymentsign with rectangular top using the left arm, then rotate it until the qrcode faces you.",
+    "Lift the paymentsign showing QR code label from the table and rotate it towards you",
+    "Use the left arm to pick the beige paymentsign with printed details and turn it towards you.",
+    "Slide the smooth beige paymentsign off the table and turn it to face you.",
+    "Pick the stand-up paymentsign with rectangular top up, then rotate to make its qrcode visible.",
+    "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.",
+    "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.",
+    "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.",
+    "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.",
+    "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.",
+    "Catch the paymentsign with blue and white text with the left arm, then rotate it to make the QR code visible.",
+    "Use the left arm to grab the paymentsign showing QR code label and rotate QR code towards you.",
+    "Take the paymentsign resting on angled base, raise it, and make the qrcode face you."
+  ],
+  "unseen": [
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it"
+  ]
+}

camera_table/train/rotate_qrcode/rtgen_camera_table_train_rotate_qrcode_d435_nominal_table/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.",
+    "Find the smooth beige paymentsign, grab it, and turn it towards yourself.",
+    "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.",
+    "Pick up the paymentsign showing QR code label and rotate it so the QR code faces you",
+    "Use the left arm to lift the beige paymentsign with printed details and rotate it QR code toward you.",
+    "Use the left arm to pick the paymentsign showing QR code label and turn it towards you.",
+    "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.",
+    "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.",
+    "Take the QR code paymentsign from the table, rotating it QR code toward you.",
+    "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you",
+    "Catch the beige paymentsign, lift it, and adjust its QR code to face you.",
+    "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.",
+    "Take the paymentsign with tilted rectangular panel, lift it, and orient it so the QR faces you",
+    "Grab the small paymentsign for mobile payments using the left arm, lift, and rotate until QR code faces you.",
+    "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.",
+    "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.",
+    "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward",
+    "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.",
+    "Use the left arm to take the beige paymentsign and turn it until the QR code faces you",
+    "Use the left arm to grab the beige paymentsign, rotate, and face the QR code towards you.",
+    "Lift the smooth beige paymentsign from the surface and adjust its angle towards you",
+    "Catch the compact paymentsign for scanning payments using the left arm, pick it up, and turn it to face the QR code.",
+    "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.",
+    "Employ the left arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward",
+    "Catch the beige paymentsign off the table and rotate its qrcode to you.",
+    "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward",
+    "Catch the compact paymentsign for scanning payments with the left arm, then rotate it to make the QR code visible.",
+    "Using the left arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.",
+    "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.",
+    "Lift the small paymentsign for mobile payments and orient its QR code toward you with the left arm.",
+    "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.",
+    "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.",
+    "Use the left arm to grab the compact paymentsign for scanning payments and point its QR code toward you.",
+    "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.",
+    "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you",
+    "Pick the beige paymentsign with printed details up and turn its QR code toward you using the left arm.",
+    "Take the QR code paymentsign, raise it, and make the qrcode face you.",
+    "Slide the paymentsign resting on angled base off the table and turn it to face you.",
+    "Grab the paymentsign resting on angled base using the left arm, then rotate the QR code to face forward.",
+    "Lift the QR code paymentsign and rotate for its qrcode to face you.",
+    "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.",
+    "Use the left arm to lift the paymentsign showing QR code label from the table and face the qrcode.",
+    "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.",
+    "Use the left arm to grab the paymentsign resting on angled base and rotate QR code towards you.",
+    "Use the left arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.",
+    "Grab the smooth beige paymentsign, lift it from the table, and rotate it QR front",
+    "Lift the paymentsign with tilted rectangular panel from the table and turn it to face you.",
+    "Lift the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the qrcode visible.",
+    "Grab the paymentsign with blue and white text using the left arm, then rotate it until the qrcode faces you.",
+    "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.",
+    "Find the QR code paymentsign, grab it, and turn it towards yourself.",
+    "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.",
+    "Pick up the paymentsign showing QR code label and rotate it so the QR code faces you",
+    "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.",
+    "Use the left arm to pick the beige paymentsign and turn it towards you.",
+    "Lift the QR code paymentsign from the table, turning it QR code forward.",
+    "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.",
+    "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.",
+    "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you",
+    "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.",
+    "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.",
+    "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you",
+    "Grab the beige paymentsign with printed details using the left arm, lift, and rotate until QR code faces you.",
+    "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.",
+    "Catch the paymentsign showing QR code label, lift it, and rotate it QR code facing.",
+    "Catch the QR code paymentsign, lift, and rotate to align the qrcode to you.",
+    "Use the left arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward",
+    "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.",
+    "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you",
+    "Use the left arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.",
+    "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you",
+    "Catch the paymentsign with tilted rectangular panel using the left arm, pick it up, and turn it to face the QR code.",
+    "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.",
+    "Employ the left arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward",
+    "Catch the QR code paymentsign off the table and rotate its qrcode to you.",
+    "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward",
+    "Catch the paymentsign showing QR code label with the left arm, then rotate it to make the QR code visible.",
+    "Using the left arm, catch the paymentsign resting on angled base and rotate it to face the QR code.",
+    "Lift the paymentsign with tilted rectangular panel and rotate it until the QR code faces you.",
+    "Lift the QR code paymentsign and orient its QR code toward you with the left arm.",
+    "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.",
+    "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.",
+    "Use the left arm to grab the QR code paymentsign and point its QR code toward you.",
+    "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.",
+    "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you",
+    "Pick the QR code paymentsign up and turn its QR code toward you using the left arm.",
+    "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.",
+    "Slide the compact paymentsign for scanning payments off the table and turn it to face you.",
+    "Grab the paymentsign resting on angled base using the left arm, then rotate the QR code to face forward.",
+    "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.",
+    "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.",
+    "Use the left arm to lift the compact paymentsign for scanning payments from the table and face the qrcode.",
+    "Grab the paymentsign showing QR code label with the left arm, then rotate it to face yourself.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.",
+    "Use the left arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.",
+    "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front",
+    "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.",
+    "Lift the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the qrcode visible.",
+    "Grab the beige paymentsign with printed details using the left arm, then rotate it until the qrcode faces you."
+  ],
+  "unseen": [
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you."
+  ]
+}

camera_table/train/rotate_qrcode/rtgen_camera_table_train_rotate_qrcode_d435_nominal_table/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the small paymentsign for mobile payments, raise it, and turn it so the QR code faces you",
+    "Lift the smooth beige paymentsign from the table and turn it to face you.",
+    "Catch the small paymentsign for mobile payments using the left arm, pick it up, and turn it to face the QR code.",
+    "Grab the QR code paymentsign with the left arm, then rotate it to face yourself.",
+    "Lift the smooth beige paymentsign with the left arm, then rotate it to make the qrcode visible.",
+    "Use the left arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward",
+    "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate it until the qrcode faces you.",
+    "Lift the QR code paymentsign from the table and rotate it towards you",
+    "Catch the paymentsign showing QR code label, pick it up, and rotate to show the QR code.",
+    "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.",
+    "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.",
+    "Employ the left arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward",
+    "Use the left arm to grab the smooth beige paymentsign and rotate the qrcode to face you.",
+    "Take the smooth beige paymentsign from the table, rotating it QR code toward you.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate it until the QR faces forward",
+    "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.",
+    "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.",
+    "Use the left arm to grab the beige paymentsign, rotate, and face the QR code towards you.",
+    "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.",
+    "Catch the paymentsign resting on angled base, lift, and rotate to align the qrcode to you.",
+    "Lift the QR code paymentsign and orient its QR code toward you with the left arm.",
+    "Lift the beige paymentsign and rotate for its qrcode to face you.",
+    "Slide the beige paymentsign off the table and turn it to face you.",
+    "Catch the paymentsign resting on angled base with the left arm, then rotate it to make the QR code visible.",
+    "Use the left arm to lift the paymentsign showing QR code label and rotate it QR code toward you.",
+    "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.",
+    "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.",
+    "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you",
+    "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.",
+    "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front",
+    "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.",
+    "Lift the rectangular paymentsign with colorful top and rotate it until the QR code faces you.",
+    "Grab the paymentsign resting on angled base using the left arm, lift, and rotate until QR code faces you.",
+    "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.",
+    "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the left arm.",
+    "Lift the rectangular paymentsign with colorful top from the surface and adjust its angle towards you",
+    "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.",
+    "Using the left arm, catch the stand-up paymentsign with rectangular top and rotate it to face the QR code.",
+    "Find the paymentsign with blue and white text, grab it, and turn it towards yourself.",
+    "Use the left arm to lift the smooth beige paymentsign from the table and face the qrcode.",
+    "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.",
+    "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.",
+    "Use the left arm to grab the smooth beige paymentsign and rotate QR code towards you.",
+    "Use the left arm to grab the beige paymentsign with printed details and point its QR code toward you.",
+    "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you",
+    "Use the left arm to take the beige paymentsign with printed details and turn it until the QR code faces you",
+    "Lift the smooth beige paymentsign and rotate until its qrcode faces you.",
+    "Use the left arm to pick the paymentsign showing QR code label and turn it towards you.",
+    "Grab the beige paymentsign with printed details using the left arm, then rotate the QR code to face forward.",
+    "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.",
+    "Catch the beige paymentsign, raise it, and turn it so the QR code faces you",
+    "Lift the paymentsign with tilted rectangular panel from the table and turn it to face you.",
+    "Catch the paymentsign with blue and white text using the left arm, pick it up, and turn it to face the QR code.",
+    "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.",
+    "Lift the smooth beige paymentsign with the left arm, then rotate it to make the qrcode visible.",
+    "Use the left arm to grab the compact paymentsign for scanning payments, lift, and turn it QR code forward",
+    "Grab the QR code paymentsign using the left arm, then rotate it until the qrcode faces you.",
+    "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you",
+    "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.",
+    "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.",
+    "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.",
+    "Employ the left arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward",
+    "Use the left arm to grab the beige paymentsign and rotate the qrcode to face you.",
+    "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.",
+    "Use the left arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward",
+    "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.",
+    "Catch the paymentsign showing QR code label off the table and rotate its qrcode to you.",
+    "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.",
+    "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.",
+    "Catch the QR code paymentsign, lift, and rotate to align the qrcode to you.",
+    "Lift the small paymentsign for mobile payments and orient its QR code toward you with the left arm.",
+    "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.",
+    "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.",
+    "Catch the smooth beige paymentsign with the left arm, then rotate it to make the QR code visible.",
+    "Use the left arm to lift the paymentsign with blue and white text and rotate it QR code toward you.",
+    "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.",
+    "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.",
+    "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you",
+    "Catch and lift the compact paymentsign for scanning payments, then turn it to show the QR code.",
+    "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front",
+    "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.",
+    "Lift the smooth beige paymentsign and rotate it until the QR code faces you.",
+    "Grab the paymentsign resting on angled base using the left arm, lift, and rotate until QR code faces you.",
+    "Locate the beige paymentsign, pick it up, and adjust its angle.",
+    "Pick the smooth beige paymentsign up and turn its QR code toward you using the left arm.",
+    "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you",
+    "Pick the QR code paymentsign up, rotate it, and ensure the QR code faces you.",
+    "Using the left arm, catch the beige paymentsign and rotate it to face the QR code.",
+    "Find the beige paymentsign, grab it, and turn it towards yourself.",
+    "Use the left arm to lift the paymentsign showing QR code label from the table and face the qrcode.",
+    "Lift the QR code paymentsign from the table and rotate it so the code faces you.",
+    "Pick the smooth beige paymentsign up, then rotate to make its qrcode visible.",
+    "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate QR code towards you.",
+    "Use the left arm to grab the small paymentsign for mobile payments and point its QR code toward you.",
+    "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you",
+    "Use the left arm to take the smooth beige paymentsign and turn it until the QR code faces you",
+    "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.",
+    "Use the left arm to pick the beige paymentsign and turn it towards you.",
+    "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate the QR code to face forward.",
+    "Lift the paymentsign showing QR code label from the table, turning it QR code forward."
+  ],
+  "unseen": [
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with angled stand and rotate it facing you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Pick the paymentsign with QR code off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick the paymentsign with angled stand up from the table and rotate it.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with angled stand on the table and pick it up.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Pick the tabletop paymentsign off the table using the left arm and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Pick up the paymentsign with QR code and rotate it facing you.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you"
+  ]
+}