diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode0.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..35e0aa31e4e6849e558a4bb330fc19406e9d3b3f
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the can with red-orange text, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.",
+    "Use the same arm to grab the white can, place in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Lift the small white can with branding, put it in the basket for carrying things, and carry the basket for carrying things afterward.",
+    "Grab the can with rounded cylindrical shape, place it in the basket for holding items, and lift the basket for holding items upwards.",
+    "Lift the can with rounded cylindrical shape, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Pick up the can with rounded cylindrical shape, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Lift the red-orange text on white can, place it inside the basket for carrying things, and elevate the basket for carrying things.",
+    "Grab the white can, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the woven basket, and lift the woven basket.",
+    "Pick the cylindrical white glossy can with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Use the left arm to pick the can with gold top lid, place it inside the woven basket, then lift the woven basket.",
+    "Take the beverage can with printed label and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab and drop the can with gold top lid in the wooden basket with curved handle, lift the wooden basket with curved handle.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Place the smooth white can with accents inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Hold the white can using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the can with sealed gold top, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Grab the smooth white can with accents, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Use the left arm to take the white can with 3D RADY label, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the medium metal can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Pick up the white can with 3D RADY label, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the white can, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the white can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.",
+    "Lift the white can with 3D RADY label, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the brown basket and lift the brown basket.",
+    "Drop the can with gold top lid into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Take the can with rounded cylindrical shape, set it into the basket with loop handle, and raise the basket with loop handle.",
+    "Grab the small white can with branding, put it in the woven basket, then raise the woven basket.",
+    "Use the left arm to grab the beverage can with printed label and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Pick up the cylindrical white glossy can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Grab the can with sealed gold top, place it in the woven basket, and then lift the woven basket.",
+    "Pick the cylindrical white glossy can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Place the white can in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Lift the can with red-orange text with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Pick the beverage can with printed label with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Pick up the cylindrical white glossy can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the basket for holding items, and lift the basket for holding items.",
+    "Take the red-orange text on white can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Place the white can in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Take the small white can with branding in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Use the left arm to grab the cylindrical white glossy can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Take the can with red-orange text with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Use the left arm to grab the white can with 3D RADY label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.",
+    "Pick up the white can, put it into the basket with handle, and lift the basket with handle.",
+    "Lift the can with gold top lid, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Pick the can with rounded cylindrical shape, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Pick up the medium metal can using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Grab the red-orange text on white can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Pick the white can, set it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Lift the can with gold top lid, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.",
+    "Use the same arm to grab the small white can with branding, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Lift the can with red-orange text, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Grab the medium metal can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Lift the can with rounded cylindrical shape, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Pick up the white can with 3D RADY label, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Lift the can with sealed gold top, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Grab the white can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Use the left arm to pick the small white can with branding, place it inside the woven basket, then lift the woven basket.",
+    "Take the red-orange text on white can and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab and drop the can with gold top lid in the basket for holding items, lift the basket for holding items.",
+    "Grab the small white can with branding with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Place the can with sealed gold top inside the brown basket, then lift the brown basket.",
+    "Hold the beverage can with printed label using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the beverage can with printed label, set it into the basket with handle, then raise the basket with handle.",
+    "Grab the can with gold top lid, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Use the left arm to take the small white can with branding, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab the beverage can with printed label, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Pick up the small white can with branding, set it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick up the white can with 3D RADY label, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with red-orange text, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.",
+    "Lift the can with red-orange text, set it in the basket with handle, and elevate the basket with handle.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the basket made of woven wood and lift the basket made of woven wood.",
+    "Drop the white can with 3D RADY label into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.",
+    "Take the white can with 3D RADY label, set it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Grab the can with rounded cylindrical shape, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Use the left arm to grab the cylindrical white glossy can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick up the white can with 3D RADY label with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.",
+    "Grab the white can with 3D RADY label, place it in the brown basket, and then lift the brown basket.",
+    "Pick the can with red-orange text with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Place the beverage can with printed label in the brown basket and then lift the brown basket.",
+    "Lift the cylindrical white glossy can with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Pick the beverage can with printed label with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Pick up the red-orange text on white can, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Take the medium metal can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Place the beverage can with printed label in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Take the smooth white can with accents in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.",
+    "Use the left arm to grab the beverage can with printed label, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Take the white can with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Use the left arm to grab the white can, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Pick up the red-orange text on white can, put it into the basket for holding items, and lift the basket for holding items.",
+    "Lift the cylindrical white glossy can, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Pick the can with sealed gold top using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Pick the smooth white can with accents, set it in the basket for carrying things, and lift the basket for carrying things upward.",
+    "Pick up the can with gold top lid using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Grab the cylindrical white glossy can, place it in the basket with handle, and raise the basket with handle using the other arm.",
+    "Pick the can with rounded cylindrical shape, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges."
+  ],
+  "unseen": [
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode1.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..518d2c8aefd992c1260f5ebdd14e2ed975447b98
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the small white can with branding and put it in the brown basket, then lift the brown basket.",
+    "Pick up the white can with 3D RADY label with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.",
+    "Use the left arm to grab the smooth white can with accents and place in the basket with handle, lift the basket with handle with another arm.",
+    "Use the left arm to take the can with gold top lid, drop it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Take the red-orange text on white can in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Lift the white can, drop it into the woven basket, then carry the woven basket.",
+    "Grab the can with rounded cylindrical shape, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Take the smooth white can with accents, place it into the brown basket, then lift the brown basket.",
+    "Lift the can with rounded cylindrical shape, put it in the woven basket, and carry the woven basket afterward.",
+    "Lift the can with red-orange text, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Grab the white can with 3D RADY label, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.",
+    "Grab the small white can with branding, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Place the white can with 3D RADY label inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Lift the can with red-orange text, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Use the same arm to grab the medium metal can, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the small white can with branding, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Drop the small white can with branding into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Use the left arm to hold the small white can with branding, drop the small white can with branding into the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the basket with handle and lift the basket with handle.",
+    "Pick the white can with 3D RADY label with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Pick the red-orange text on white can with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Pick up the white can with 3D RADY label, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Lift the small white can with branding, set it in the basket with handle, and elevate the basket with handle.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Use the left arm to grab the beverage can with printed label, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Pick the white can, set it in the basket for carrying things, then lift the basket for carrying things.",
+    "Grab and drop the can with rounded cylindrical shape in the basket with handle, lift the basket with handle.",
+    "Use the left arm to pick the small white can with branding, place it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Pick the red-orange text on white can, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Pick up the white can with 3D RADY label, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm for the white can, place the white can in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the smooth white can with accents with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Lift the can with red-orange text with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Grab the medium metal can, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Hold the red-orange text on white can using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Lift the medium metal can, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Pick the can with red-orange text using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Place the beverage can with printed label in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Grab the cylindrical white glossy can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Take the beverage can with printed label, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Place the small white can with branding in the brown basket and then use another arm to lift the brown basket.",
+    "Use the left arm to grab the can with sealed gold top, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Pick up the medium metal can, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Grab the can with sealed gold top, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Grab the red-orange text on white can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick up the can with sealed gold top, set it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the can with red-orange text, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.",
+    "Pick up the can with gold top lid, put it into the brown basket, and lift the brown basket.",
+    "Take the medium metal can with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Take the can with gold top lid and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Pick up the red-orange text on white can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the brown basket, lift the brown basket with another arm.",
+    "Use the left arm to take the can with red-orange text, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Take the red-orange text on white can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Lift the small white can with branding, drop it into the woven basket, then carry the woven basket.",
+    "Grab the beverage can with printed label, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Take the medium metal can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Lift the smooth white can with accents, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.",
+    "Lift the can with rounded cylindrical shape, place it inside the basket for holding items, and elevate the basket for holding items.",
+    "Grab the can with gold top lid, place it in the brown basket, and lift the brown basket upwards.",
+    "Grab the white can with 3D RADY label, drop it into the basket for holding items, then use another arm for the basket for holding items.",
+    "Place the smooth white can with accents inside the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the white can, place it in the basket for holding items, and raise the basket for holding items.",
+    "Use the same arm to grab the beverage can with printed label, place in the woven basket, and then lift the woven basket.",
+    "Use the left arm to grab the can with rounded cylindrical shape, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Drop the can with rounded cylindrical shape into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Use the left arm to hold the medium metal can, drop the medium metal can into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the medium metal can using the left arm, drop the medium metal can into the basket made of woven wood and lift the basket made of woven wood.",
+    "Pick the can with sealed gold top with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Pick the can with gold top lid with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Pick up the can with rounded cylindrical shape, place it in the brown basket, and then lift the brown basket.",
+    "Lift the cylindrical white glossy can, set it in the light brown oval basket, and elevate the light brown oval basket.",
+    "Grab the can with red-orange text with the left arm, put it into the woven basket, and lift the woven basket with the other arm.",
+    "Use the left arm to grab the medium metal can, put it into the basket with handle, and lift the basket with handle with another arm.",
+    "Pick the smooth white can with accents, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab and drop the cylindrical white glossy can in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick the can with sealed gold top, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Pick up the small white can with branding, put it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm for the red-orange text on white can, place the red-orange text on white can in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick the beverage can with printed label with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Lift the beverage can with printed label with the left arm, set it in the brown basket, and lift with another arm.",
+    "Grab the white can, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Hold the white can with 3D RADY label using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Lift the beverage can with printed label, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Pick the can with rounded cylindrical shape using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Place the red-orange text on white can in the woven basket and then lift the woven basket.",
+    "Grab the small white can with branding, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Take the white can, set it into the woven basket, and raise the woven basket.",
+    "Place the can with sealed gold top in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.",
+    "Pick up the can with sealed gold top, place it into the basket for holding items, then lift the basket for holding items.",
+    "Pick up the can with gold top lid using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Grab the can with rounded cylindrical shape, place it in the woven basket, and raise the woven basket using the other arm.",
+    "Grab the can with red-orange text, place it in the woven basket, and then lift the woven basket.",
+    "Pick up the beverage can with printed label, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the can with sealed gold top, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Pick up the can with red-orange text, put it into the brown basket, and lift the brown basket.",
+    "Take the can with sealed gold top with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm."
+  ],
+  "unseen": [
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode10.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e128d18e72be60b7cfefcb25f460a5e6b7abce
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the can with gold top lid, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Pick up the small white can with branding, set it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the small white can with branding, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Grab the can with sealed gold top, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.",
+    "Lift the small white can with branding, place it inside the basket for holding items, and elevate the basket for holding items.",
+    "Pick the red-orange text on white can with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Use the left arm to grab the smooth white can with accents and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Take the can with sealed gold top, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the same arm to grab the white can, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Use the left arm to take the smooth white can with accents, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick the can with gold top lid, set it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick the small white can with branding, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.",
+    "Pick up the can with rounded cylindrical shape using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Pick up the can with rounded cylindrical shape, put it into the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to pick the medium metal can, place it inside the basket with handle, then lift the basket with handle.",
+    "Take the white can with 3D RADY label with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Grab the can with sealed gold top, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Grab the can with gold top lid with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Take the medium metal can, set it into the brown basket, and raise the brown basket.",
+    "Pick up the medium metal can, place it into the basket for holding items, then lift the basket for holding items.",
+    "Lift the smooth white can with accents with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Pick up the cylindrical white glossy can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the woven basket, and lift the woven basket using the other arm.",
+    "Pick up the red-orange text on white can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Lift the can with sealed gold top, put it in the brown basket, and carry the brown basket afterward.",
+    "Drop the small white can with branding into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Take the can with rounded cylindrical shape and put it in the basket with handle, then lift the basket with handle.",
+    "Take the smooth white can with accents in the left arm, place it into the brown basket, another arm lifts the brown basket.",
+    "Lift the white can with 3D RADY label, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Lift the can with red-orange text, place it in the basket with handle, and raise the basket with handle.",
+    "Pick the white can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Hold the can with gold top lid using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Pick the beverage can with printed label with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Grab the can with sealed gold top, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Use the left arm to grab the medium metal can, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Place the small white can with branding inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the small white can with branding, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Grab the cylindrical white glossy can, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab and drop the small white can with branding in the basket with loop handle, lift the basket with loop handle.",
+    "Place the can with gold top lid in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Lift the white can, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.",
+    "Use the left arm to grab the white can with 3D RADY label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.",
+    "Pick the red-orange text on white can using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Grab the can with sealed gold top, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Lift the white can, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Use the left arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the basket with handle, and lift the basket with handle.",
+    "Grab the white can with 3D RADY label, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.",
+    "Place the medium metal can in the brown basket and then lift the brown basket.",
+    "Use the left arm to hold the smooth white can with accents, drop the smooth white can with accents into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick up the can with rounded cylindrical shape, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Pick up the white can, set it inside the brown basket, then lift the brown basket.",
+    "Grab the cylindrical white glossy can, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Grab the red-orange text on white can, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Lift the can with red-orange text, place it inside the basket with loop handle, and elevate the basket with loop handle.",
+    "Pick the medium metal can with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Use the left arm to grab the can with gold top lid and place in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Take the beverage can with printed label, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the same arm to grab the small white can with branding, place in the basket with loop handle, and then lift the basket with loop handle.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick the can with gold top lid, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Pick the can with sealed gold top, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the brown basket and lift the brown basket.",
+    "Pick up the white can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Pick up the can with sealed gold top, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Take the small white can with branding with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Grab the can with rounded cylindrical shape, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Grab the can with red-orange text with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Take the white can with 3D RADY label, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Pick up the smooth white can with accents, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Lift the cylindrical white glossy can with the left arm, set it in the basket with loop handle, and lift with another arm.",
+    "Pick up the beverage can with printed label, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm to grab the can with gold top lid, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.",
+    "Pick up the white can with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Lift the can with sealed gold top, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Drop the beverage can with printed label into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.",
+    "Take the smooth white can with accents and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Take the can with sealed gold top in the left arm, place it into the basket with handle, another arm lifts the basket with handle.",
+    "Lift the can with rounded cylindrical shape, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Lift the white can with 3D RADY label, place it in the brown basket, and raise the brown basket.",
+    "Pick the white can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Hold the smooth white can with accents using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Grab the white can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Use the left arm to grab the can with red-orange text, place it in the basket with handle, and lift the basket with handle.",
+    "Place the white can inside the basket for holding items, then lift the basket for holding items.",
+    "Grab the white can, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Grab the can with sealed gold top, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Grab and drop the smooth white can with accents in the light brown oval basket, lift the light brown oval basket.",
+    "Place the smooth white can with accents in the brown basket and then use another arm to lift the brown basket.",
+    "Lift the smooth white can with accents, drop it into the woven basket, then carry the woven basket.",
+    "Use the left arm to grab the medium metal can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.",
+    "Pick the cylindrical white glossy can using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab the can with rounded cylindrical shape, drop it into the light brown oval basket, then use another arm for the light brown oval basket.",
+    "Lift the can with sealed gold top, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the white can, place it in the woven basket, and raise the woven basket using the other arm.",
+    "Place the white can in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the woven basket, and lift the woven basket."
+  ],
+  "unseen": [
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode11.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d62c8f525647f97e43f877a2d79b396491064c2
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and drop the can with rounded cylindrical shape in the woven basket, lift the woven basket.",
+    "Pick the can with red-orange text using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Lift the white can, put it in the basket with handle, and carry the basket with handle afterward.",
+    "Pick up the red-orange text on white can with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.",
+    "Place the can with gold top lid inside the basket for carrying things, then lift the basket for carrying things.",
+    "Lift the can with red-orange text, place it in the woven basket, and raise the woven basket.",
+    "Grab the beverage can with printed label, set it into the basket for carrying things, then raise the basket for carrying things.",
+    "Pick the small white can with branding with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Grab the can with rounded cylindrical shape, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Grab the red-orange text on white can with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the basket with handle, and then lift the basket with handle.",
+    "Lift the white can with 3D RADY label, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.",
+    "Grab the can with sealed gold top, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Use the left arm to grab the beverage can with printed label and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Take the can with red-orange text and put it in the brown basket, then lift the brown basket.",
+    "Use the left arm to hold the small white can with branding, drop the small white can with branding into the basket with loop handle, and lift the basket with loop handle.",
+    "Use the left arm to grab the white can with 3D RADY label, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick up the cylindrical white glossy can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the cylindrical white glossy can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the can with gold top lid, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Lift the can with sealed gold top, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Grab the red-orange text on white can, put it in the brown basket, then raise the brown basket.",
+    "Take the can with sealed gold top with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Place the can with rounded cylindrical shape in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Pick up the medium metal can, place it into the woven basket, then lift the woven basket.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Grab the can with gold top lid, place it in the basket for holding items, and lift the basket for holding items upwards.",
+    "Use the left arm to grab the medium metal can, put it into the basket with handle, and lift the basket with handle with another arm.",
+    "Take the smooth white can with accents, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the wooden basket with curved handle and lift the wooden basket with curved handle.",
+    "Lift the red-orange text on white can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Use the left arm to pick the cylindrical white glossy can, place it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the white can, drop it into the woven basket, and raise the woven basket with the other arm.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Use the left arm to take the medium metal can, drop it in the basket with handle, and lift the basket with handle.",
+    "Pick the white can with 3D RADY label, set it in the basket made of woven wood, and lift the basket made of woven wood upward.",
+    "Pick the red-orange text on white can, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Take the can with rounded cylindrical shape in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.",
+    "Grab the can with sealed gold top, drop it into the brown basket, and raise the brown basket.",
+    "Pick the small white can with branding with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Pick up the can with sealed gold top, put it in the light brown oval basket, and lift the light brown oval basket.",
+    "Take the red-orange text on white can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Hold the can with red-orange text using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Lift the can with red-orange text, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Pick up the red-orange text on white can, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Place the red-orange text on white can in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Drop the small white can with branding into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Grab and drop the medium metal can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.",
+    "Pick the can with sealed gold top using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Lift the small white can with branding, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.",
+    "Pick up the can with sealed gold top with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Place the small white can with branding inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Lift the small white can with branding, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Grab the can with gold top lid, set it into the basket with handle, then raise the basket with handle.",
+    "Pick the red-orange text on white can with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Grab the can with gold top lid, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Grab the small white can with branding with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Use the same arm to grab the red-orange text on white can, place in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Lift the can with sealed gold top, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Grab the white can with 3D RADY label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Lift the can with red-orange text with the left arm, set it in the brown basket, and lift with another arm.",
+    "Use the left arm to grab the white can, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Use the left arm to grab the can with sealed gold top and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Take the small white can with branding and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to grab the beverage can with printed label, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the small white can with branding, put it into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the white can with 3D RADY label, drop it into the woven basket, then use another arm for the woven basket.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the white can, set it inside the woven basket, then lift the woven basket.",
+    "Lift the beverage can with printed label, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.",
+    "Grab the red-orange text on white can, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Take the white can with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.",
+    "Place the white can with 3D RADY label in the basket with loop handle and then lift the basket with loop handle.",
+    "Pick up the can with sealed gold top, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick the small white can with branding with one arm, place it in the basket with handle, and lift the basket with handle using another arm.",
+    "Grab the medium metal can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the light brown oval basket, and lift the light brown oval basket with another arm.",
+    "Take the cylindrical white glossy can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the light brown oval basket and lift the light brown oval basket.",
+    "Lift the cylindrical white glossy can, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the can with sealed gold top, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Use the left arm to take the can with sealed gold top, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Pick the red-orange text on white can, set it in the basket for carrying things, and lift the basket for carrying things upward.",
+    "Pick the can with gold top lid, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Take the medium metal can in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.",
+    "Grab the beverage can with printed label, drop it into the brown basket, and raise the brown basket.",
+    "Pick the can with red-orange text with the left arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Pick up the cylindrical white glossy can, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Take the can with red-orange text, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Hold the can with gold top lid using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the white can, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Pick up the can with gold top lid, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Place the white can in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Drop the small white can with branding into the woven basket using the left arm, then lift the woven basket with another arm."
+  ],
+  "unseen": [
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode12.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc433247ab87ea78994f8e73a4db85cc727c242a
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the can with rounded cylindrical shape and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Take the can with rounded cylindrical shape in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.",
+    "Lift the cylindrical white glossy can, put it in the brown basket, and carry the brown basket afterward.",
+    "Lift the can with red-orange text with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Use the left arm to hold the white can, drop the white can into the basket for holding items, and lift the basket for holding items.",
+    "Pick up the small white can with branding, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Grab the can with red-orange text with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Pick up the medium metal can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick the can with rounded cylindrical shape, set it in the basket for holding items, and lift the basket for holding items upward.",
+    "Take the white can with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Grab and drop the smooth white can with accents in the basket with handle, lift the basket with handle.",
+    "Pick the can with red-orange text with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Use the left arm to grab the red-orange text on white can and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Place the can with sealed gold top in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.",
+    "Pick the can with sealed gold top with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Place the beverage can with printed label inside the basket with handle, then lift the basket with handle.",
+    "Grab the medium metal can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.",
+    "Grab the can with gold top lid, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Lift the beverage can with printed label, set it in the woven basket, and elevate the woven basket.",
+    "Grab the beverage can with printed label, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Use the left arm to grab the medium metal can, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Use the left arm for the medium metal can, place the medium metal can in the brown basket, and lift the brown basket.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.",
+    "Take the can with gold top lid, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Lift the white can with 3D RADY label, place it in the woven basket, and raise the woven basket.",
+    "Pick up the can with red-orange text, put it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the smooth white can with accents, drop it into the brown basket, then use another arm for the brown basket.",
+    "Lift the small white can with branding, place it inside the basket for carrying things, and elevate the basket for carrying things.",
+    "Use the left arm to grab the smooth white can with accents, place it into the basket with handle, and lift the basket with handle using the other arm.",
+    "Pick up the small white can with branding, put it into the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to pick the small white can with branding, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Pick up the can with sealed gold top with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Use the left arm to grab the cylindrical white glossy can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the beverage can with printed label, put it in the woven basket, then raise the woven basket.",
+    "Grab the white can with 3D RADY label using the left arm, drop the white can with 3D RADY label into the light brown oval basket and lift the light brown oval basket.",
+    "Grab the beverage can with printed label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Pick the can with gold top lid using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Pick the can with sealed gold top with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Take the cylindrical white glossy can, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Pick the beverage can with printed label, set it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the can with sealed gold top, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Lift the can with red-orange text, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Drop the beverage can with printed label into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Lift the beverage can with printed label, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Pick up the can with sealed gold top, set it inside the basket with handle, then lift the basket with handle.",
+    "Hold the can with red-orange text using the left arm, place it in the basket for holding items, and lift the basket for holding items.",
+    "Place the cylindrical white glossy can in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Grab the small white can with branding, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.",
+    "Use the left arm to take the white can, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Use the same arm to grab the white can with 3D RADY label, place in the basket for holding items, and then lift the basket for holding items.",
+    "Take the smooth white can with accents and put it in the basket for holding items, then lift the basket for holding items.",
+    "Take the medium metal can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Lift the white can with 3D RADY label, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Lift the white can with 3D RADY label with the left arm, set it in the brown basket with woven ridges, and lift with another arm.",
+    "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the medium metal can, place it in the brown basket, and then lift the brown basket.",
+    "Grab the red-orange text on white can with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Pick up the white can with 3D RADY label, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick the can with rounded cylindrical shape, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Take the can with gold top lid with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.",
+    "Grab and drop the cylindrical white glossy can in the basket for holding items, lift the basket for holding items.",
+    "Pick the can with red-orange text with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Use the left arm to grab the beverage can with printed label and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Place the beverage can with printed label in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Pick the white can with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Place the can with red-orange text inside the basket for holding items, then lift the basket for holding items.",
+    "Grab the beverage can with printed label, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Grab the smooth white can with accents, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Lift the beverage can with printed label, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Grab the can with gold top lid, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Use the left arm to grab the white can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the brown basket, and lift the brown basket.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Take the can with red-orange text, place it into the brown basket, then lift the brown basket.",
+    "Lift the can with sealed gold top, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Pick up the can with gold top lid, put it in the brown basket, and lift the brown basket.",
+    "Grab the medium metal can, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.",
+    "Lift the can with red-orange text, place it inside the woven basket, and elevate the woven basket.",
+    "Use the left arm to grab the can with red-orange text, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.",
+    "Pick up the white can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm to pick the medium metal can, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Use the left arm to grab the can with red-orange text, place it in the woven basket, and lift the woven basket.",
+    "Grab the can with red-orange text, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the basket for carrying things and lift the basket for carrying things.",
+    "Grab the white can with 3D RADY label, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.",
+    "Pick the can with sealed gold top using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Pick the beverage can with printed label with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Take the cylindrical white glossy can, set it into the basket for holding items, and raise the basket for holding items.",
+    "Pick the smooth white can with accents, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the small white can with branding, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Lift the beverage can with printed label, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Drop the cylindrical white glossy can into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Lift the can with red-orange text, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.",
+    "Pick up the can with sealed gold top, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Hold the smooth white can with accents using the left arm, place it in the basket for holding items, and lift the basket for holding items.",
+    "Place the smooth white can with accents in the brown basket and then lift the brown basket.",
+    "Grab the can with sealed gold top, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Use the left arm to take the white can, drop it in the brown basket, and lift the brown basket.",
+    "Use the same arm to grab the smooth white can with accents, place in the woven basket, and then lift the woven basket."
+  ],
+  "unseen": [
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode13.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe3a57c735c30f05e94aa84b005e97eefafd6236
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the same arm to grab the can with gold top lid, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Grab the can with sealed gold top, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.",
+    "Grab the cylindrical white glossy can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick the medium metal can, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Pick up the can with gold top lid, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Pick the white can with 3D RADY label, set it in the basket with handle, then lift the basket with handle.",
+    "Place the can with sealed gold top in the basket with handle and then lift the basket with handle.",
+    "Use the left arm to grab the red-orange text on white can and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Grab and drop the cylindrical white glossy can in the basket made of woven wood, lift the basket made of woven wood.",
+    "Grab the can with rounded cylindrical shape, set it into the basket for carrying things, then raise the basket for carrying things.",
+    "Pick the medium metal can with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Place the red-orange text on white can in the brown basket and then use another arm to lift the brown basket.",
+    "Lift the red-orange text on white can, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Grab the can with rounded cylindrical shape, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.",
+    "Grab the can with rounded cylindrical shape, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.",
+    "Pick up the can with sealed gold top, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Pick the smooth white can with accents with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Take the can with red-orange text in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Take the white can with 3D RADY label and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Place the white can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the can with rounded cylindrical shape using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Hold the small white can with branding using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick the medium metal can using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Grab the red-orange text on white can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Drop the small white can with branding into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Take the beverage can with printed label, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Lift the beverage can with printed label, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.",
+    "Grab the can with red-orange text, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Grab the can with gold top lid using the left arm, drop the can with gold top lid into the basket made of woven wood and lift the basket made of woven wood.",
+    "Grab the cylindrical white glossy can with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Lift the smooth white can with accents, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.",
+    "Pick up the red-orange text on white can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to take the white can, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the basket for holding items, and lift the basket for holding items.",
+    "Lift the can with gold top lid, place it inside the basket with handle, and elevate the basket with handle.",
+    "Grab the white can with 3D RADY label, put it in the basket with handle, then raise the basket with handle.",
+    "Use the left arm to grab the small white can with branding, place it into the basket with handle, and lift the basket with handle using the other arm.",
+    "Lift the small white can with branding, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to pick the small white can with branding, place it inside the woven basket, then lift the woven basket.",
+    "Use the left arm to grab the can with red-orange text, put it into the basket with loop handle, and lift the basket with loop handle with another arm.",
+    "Lift the can with sealed gold top with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Pick the medium metal can with the left arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Lift the white can, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Use the left arm to grab the beverage can with printed label, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Take the can with gold top lid, place it into the woven basket, then lift the woven basket.",
+    "Take the white can with 3D RADY label with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Pick up the white can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick up the can with gold top lid with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Use the same arm to grab the white can, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Grab the smooth white can with accents, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.",
+    "Grab the red-orange text on white can, drop it into the woven basket, and raise the woven basket.",
+    "Pick up the cylindrical white glossy can, put it into the basket with handle, and lift the basket with handle.",
+    "Pick the red-orange text on white can, set it in the light brown oval basket, and lift the light brown oval basket upward.",
+    "Pick up the can with rounded cylindrical shape, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Pick the cylindrical white glossy can, set it in the basket for carrying things, then lift the basket for carrying things.",
+    "Place the red-orange text on white can in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Use the left arm to grab the can with red-orange text and place in the basket with handle, lift the basket with handle with another arm.",
+    "Grab and drop the cylindrical white glossy can in the brown basket, lift the brown basket.",
+    "Grab the medium metal can, set it into the basket with loop handle, then raise the basket with loop handle.",
+    "Pick the cylindrical white glossy can with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Place the can with sealed gold top in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.",
+    "Lift the beverage can with printed label, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Grab the small white can with branding, drop it into the brown basket, then use another arm for the brown basket.",
+    "Grab the can with sealed gold top, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Pick up the can with red-orange text, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick the cylindrical white glossy can with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Take the white can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Take the smooth white can with accents and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Place the white can with 3D RADY label inside the woven basket, then lift the woven basket.",
+    "Pick up the medium metal can using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Hold the white can using the left arm, place it in the basket with handle, and lift the basket with handle.",
+    "Pick the medium metal can using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab the can with gold top lid, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Drop the red-orange text on white can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Take the cylindrical white glossy can, set it into the basket with handle, and raise the basket with handle.",
+    "Lift the beverage can with printed label, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Grab the can with rounded cylindrical shape, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the light brown oval basket and lift the light brown oval basket.",
+    "Grab the small white can with branding with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Lift the white can, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Pick up the red-orange text on white can, put it in the basket with handle, and lift the basket with handle.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm for the white can with 3D RADY label, place the white can with 3D RADY label in the woven basket, and lift the woven basket.",
+    "Lift the can with red-orange text, place it inside the woven basket, and elevate the woven basket.",
+    "Grab the white can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Use the left arm to grab the can with gold top lid, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Lift the white can with 3D RADY label, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the basket for carrying things, and lift the basket for carrying things.",
+    "Use the left arm to pick the small white can with branding, place it inside the basket for holding items, then lift the basket for holding items.",
+    "Use the left arm to grab the can with gold top lid, put it into the woven basket, and lift the woven basket with another arm.",
+    "Lift the smooth white can with accents with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Pick the white can with 3D RADY label with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Lift the small white can with branding, set it in the woven basket, and elevate the woven basket.",
+    "Use the left arm to grab the can with gold top lid, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Take the medium metal can, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Pick up the can with gold top lid, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things."
+  ],
+  "unseen": [
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode14.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..e58253560393ee2209f3b61ffe19469b793376fa
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small white can with branding, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Lift the can with sealed gold top with the left arm, set it in the basket for carrying things, and lift with another arm.",
+    "Use the left arm to grab the can with sealed gold top and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick the can with red-orange text, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab the small white can with branding, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Use the left arm to grab the can with sealed gold top, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Use the left arm to grab the cylindrical white glossy can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick the white can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Grab the can with red-orange text, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.",
+    "Pick the cylindrical white glossy can with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.",
+    "Pick up the can with red-orange text, place it in the woven basket, and then lift the woven basket.",
+    "Grab the red-orange text on white can, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Use the left arm to grab the can with rounded cylindrical shape, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Use the left arm for the medium metal can, place the medium metal can in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Take the cylindrical white glossy can, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Take the white can with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Place the can with red-orange text in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.",
+    "Pick up the can with gold top lid, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick up the white can with 3D RADY label, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to take the can with red-orange text, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to pick the cylindrical white glossy can, place it inside the basket for holding items, then lift the basket for holding items.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the basket for carrying things and lift the basket for carrying things.",
+    "Grab and drop the smooth white can with accents in the brown basket, lift the brown basket.",
+    "Take the small white can with branding, set it into the basket for holding items, and raise the basket for holding items.",
+    "Grab the can with gold top lid, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Drop the can with sealed gold top into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Take the white can with 3D RADY label and put it in the woven basket, then lift the woven basket.",
+    "Take the can with gold top lid in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Pick up the cylindrical white glossy can, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the can with rounded cylindrical shape, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the white can, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Lift the smooth white can with accents, place it inside the brown basket, and elevate the brown basket.",
+    "Pick the can with red-orange text with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Grab the beverage can with printed label, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Lift the can with rounded cylindrical shape, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.",
+    "Pick up the small white can with branding using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Grab the smooth white can with accents, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Grab the white can, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Place the cylindrical white glossy can in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Use the same arm to grab the white can with 3D RADY label, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Hold the can with rounded cylindrical shape using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the small white can with branding, set it in the light brown oval basket, and elevate the light brown oval basket.",
+    "Place the can with red-orange text inside the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the can with rounded cylindrical shape, put it in the basket with handle, and carry the basket with handle afterward.",
+    "Lift the red-orange text on white can, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick the white can, set it in the basket with handle, and lift the basket with handle upward.",
+    "Lift the medium metal can, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Lift the white can with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Use the left arm to grab the can with gold top lid and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick the medium metal can, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the cylindrical white glossy can, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Use the left arm to grab the can with red-orange text, put it into the woven basket, and lift the woven basket with another arm.",
+    "Use the left arm to grab the small white can with branding, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick the beverage can with printed label with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Grab the can with red-orange text, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Pick the smooth white can with accents with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Pick up the small white can with branding with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Pick up the can with sealed gold top, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Grab the red-orange text on white can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Use the left arm to grab the red-orange text on white can, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Use the left arm for the white can, place the white can in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Take the smooth white can with accents, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the small white can with branding with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Pick the red-orange text on white can using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Place the small white can with branding in the basket for holding items and then use another arm to lift the basket for holding items.",
+    "Pick up the can with sealed gold top, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the basket with handle, and lift the basket with handle.",
+    "Pick up the small white can with branding, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to pick the small white can with branding, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the wooden basket with curved handle and lift the wooden basket with curved handle.",
+    "Grab and drop the can with rounded cylindrical shape in the basket for carrying things, lift the basket for carrying things.",
+    "Take the can with rounded cylindrical shape, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Grab the white can with 3D RADY label, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Drop the small white can with branding into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.",
+    "Take the can with sealed gold top and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Take the cylindrical white glossy can in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Pick up the small white can with branding, put it into the woven basket, and lift the woven basket.",
+    "Pick up the red-orange text on white can, put it in the basket for holding items, and lift the basket for holding items.",
+    "Grab the white can, set it into the basket with loop handle, then raise the basket with loop handle.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Lift the small white can with branding, place it inside the brown basket, and elevate the brown basket.",
+    "Pick the cylindrical white glossy can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Grab the smooth white can with accents, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Lift the can with red-orange text, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Grab the white can with 3D RADY label, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Grab the white can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Place the can with sealed gold top in the brown basket and then lift the brown basket.",
+    "Use the same arm to grab the can with gold top lid, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Hold the smooth white can with accents using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Lift the cylindrical white glossy can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Place the beverage can with printed label inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the white can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.",
+    "Lift the red-orange text on white can, place it in the basket for carrying things, and raise the basket for carrying things.",
+    "Pick the medium metal can, set it in the light brown oval basket, and lift the light brown oval basket upward."
+  ],
+  "unseen": [
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode15.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d047cb6bd21770271659c1aa0f1da883e377c2a
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small white can with branding, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Drop the can with gold top lid into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Use the left arm to pick the small white can with branding, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Lift the white can with 3D RADY label, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.",
+    "Pick up the white can, put it into the basket for holding items, and lift the basket for holding items.",
+    "Lift the cylindrical white glossy can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Grab the small white can with branding, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Hold the cylindrical white glossy can using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick the medium metal can, set it in the brown basket, then lift the brown basket.",
+    "Pick up the can with gold top lid, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Take the smooth white can with accents in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Pick the red-orange text on white can with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Use the left arm to take the beverage can with printed label, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the can with gold top lid using the left arm, drop the can with gold top lid into the brown basket and lift the brown basket.",
+    "Lift the beverage can with printed label, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Grab the smooth white can with accents, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Use the left arm to grab the beverage can with printed label, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Take the can with red-orange text, set it into the basket with handle, and raise the basket with handle.",
+    "Use the left arm to grab the can with gold top lid, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.",
+    "Lift the small white can with branding, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Pick the beverage can with printed label with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Lift the red-orange text on white can with the left arm, set it in the basket with loop handle, and lift with another arm.",
+    "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the basket for holding items, and lift the basket for holding items.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Grab the can with sealed gold top, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Grab the beverage can with printed label, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Lift the red-orange text on white can, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Grab and drop the can with rounded cylindrical shape in the basket with loop handle, lift the basket with loop handle.",
+    "Pick the beverage can with printed label, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Grab the red-orange text on white can, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Lift the smooth white can with accents, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.",
+    "Place the white can with 3D RADY label inside the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick up the beverage can with printed label, place it into the basket with handle, then lift the basket with handle.",
+    "Grab the can with sealed gold top, place it in the woven basket, and raise the woven basket using the other arm.",
+    "Grab the can with gold top lid with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Pick the white can with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Take the red-orange text on white can with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the white can, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Take the can with red-orange text and put it in the woven basket, then lift the woven basket.",
+    "Place the cylindrical white glossy can in the woven basket and then use another arm to lift the woven basket.",
+    "Pick up the white can with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.",
+    "Pick up the small white can with branding, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the can with rounded cylindrical shape, place it into the brown basket, then lift the brown basket.",
+    "Pick the can with sealed gold top using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Use the left arm to grab the can with red-orange text and place in the basket with handle, lift the basket with handle with another arm.",
+    "Pick up the can with red-orange text using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Use the left arm to grab the can with red-orange text, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick up the can with gold top lid, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Place the small white can with branding in the woven basket and then lift the woven basket.",
+    "Grab the can with sealed gold top, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Drop the beverage can with printed label into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Lift the beverage can with printed label, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Pick up the cylindrical white glossy can, put it into the basket for holding items, and lift the basket for holding items.",
+    "Lift the red-orange text on white can, place it in the basket for holding items, and raise the basket for holding items.",
+    "Grab the red-orange text on white can, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Hold the small white can with branding using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick the can with red-orange text, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the can with gold top lid, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Take the cylindrical white glossy can in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.",
+    "Pick the can with gold top lid with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Use the left arm to take the medium metal can, drop it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the wooden basket with curved handle and lift the wooden basket with curved handle.",
+    "Lift the medium metal can, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Grab the small white can with branding, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Use the left arm to grab the white can with 3D RADY label, put it into the light brown oval basket, and lift the light brown oval basket with another arm.",
+    "Take the smooth white can with accents, set it into the woven basket, and raise the woven basket.",
+    "Use the left arm to grab the smooth white can with accents, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Lift the beverage can with printed label, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.",
+    "Pick the beverage can with printed label with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the same arm to grab the white can with 3D RADY label, place in the basket for holding items, and then lift the basket for holding items.",
+    "Grab the cylindrical white glossy can, place it in the woven basket, and lift the woven basket upwards.",
+    "Grab the smooth white can with accents, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Lift the white can, place it inside the light brown oval basket, and elevate the light brown oval basket.",
+    "Grab and drop the can with rounded cylindrical shape in the brown basket, lift the brown basket.",
+    "Pick the can with sealed gold top, set it in the basket for carrying things, and lift the basket for carrying things upward.",
+    "Grab the can with red-orange text, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Lift the smooth white can with accents, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Place the can with gold top lid inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick up the white can with 3D RADY label, place it into the brown basket, then lift the brown basket.",
+    "Grab the can with gold top lid, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.",
+    "Grab the beverage can with printed label with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Take the beverage can with printed label with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Grab the can with gold top lid, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Take the can with gold top lid and put it in the basket for carrying things, then lift the basket for carrying things.",
+    "Place the can with red-orange text in the light brown oval basket and then use another arm to lift the light brown oval basket.",
+    "Pick up the can with gold top lid with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Pick up the small white can with branding, set it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Take the cylindrical white glossy can, place it into the basket for holding items, then lift the basket for holding items.",
+    "Pick the can with gold top lid using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Use the left arm to grab the white can with 3D RADY label and place in the basket with handle, lift the basket with handle with another arm.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Use the left arm to grab the smooth white can with accents, place it in the basket with handle, and lift the basket with handle.",
+    "Pick up the red-orange text on white can, put it in the basket with handle, and lift the basket with handle.",
+    "Place the white can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode16.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..633ea9eca1c045611641e1d948b6453a37b99b70
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the beverage can with printed label, drop it into the basket with loop handle, then carry the basket with loop handle.",
+    "Use the left arm to pick the can with gold top lid, place it inside the basket for holding items, then lift the basket for holding items.",
+    "Place the smooth white can with accents inside the woven basket, then lift the woven basket.",
+    "Lift the white can with 3D RADY label, set it in the woven basket, and elevate the woven basket.",
+    "Grab the medium metal can, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Grab the can with red-orange text, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Lift the medium metal can with the left arm, set it in the basket with loop handle, and lift with another arm.",
+    "Pick up the red-orange text on white can, put it into the basket with handle, and lift the basket with handle.",
+    "Pick up the medium metal can, put it in the basket with handle, and lift the basket with handle.",
+    "Pick up the cylindrical white glossy can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Take the red-orange text on white can in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.",
+    "Use the same arm to grab the white can, place in the basket with handle, and then lift the basket with handle.",
+    "Pick the beverage can with printed label with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the red-orange text on white can, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Pick up the white can with 3D RADY label, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Lift the cylindrical white glossy can, place it in the basket for carrying things, and raise the basket for carrying things.",
+    "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Pick the white can with the left arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Lift the white can, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Use the left arm to grab the beverage can with printed label, place it in the brown basket, and lift the brown basket.",
+    "Grab the smooth white can with accents with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Use the left arm to take the can with red-orange text, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the smooth white can with accents, drop it into the basket with handle, and raise the basket with handle.",
+    "Take the beverage can with printed label, set it into the woven basket, and raise the woven basket.",
+    "Take the white can with 3D RADY label, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Drop the cylindrical white glossy can into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.",
+    "Grab and drop the can with rounded cylindrical shape in the basket for carrying things, lift the basket for carrying things.",
+    "Hold the red-orange text on white can using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Use the left arm to grab the can with red-orange text, put it into the woven basket, and lift the woven basket with another arm.",
+    "Pick the beverage can with printed label, set it in the woven basket, then lift the woven basket.",
+    "Lift the cylindrical white glossy can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.",
+    "Place the can with gold top lid in the basket for carrying things and then lift the basket for carrying things.",
+    "Grab the beverage can with printed label, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Pick up the medium metal can, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the small white can with branding and place in the basket with handle, lift the basket with handle with another arm.",
+    "Take the cylindrical white glossy can and put it in the brown basket, then lift the brown basket.",
+    "Pick up the medium metal can using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.",
+    "Use the left arm to hold the small white can with branding, drop the small white can with branding into the basket for carrying things, and lift the basket for carrying things.",
+    "Pick the medium metal can, set it in the basket for holding items, and lift the basket for holding items upward.",
+    "Grab the can with sealed gold top, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Place the smooth white can with accents in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Lift the cylindrical white glossy can, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Grab the can with sealed gold top, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the basket made of woven wood and lift the basket made of woven wood.",
+    "Grab the red-orange text on white can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Lift the beverage can with printed label, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the brown basket, then lift the brown basket.",
+    "Place the small white can with branding inside the woven basket, then lift the woven basket.",
+    "Lift the can with rounded cylindrical shape, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Grab the beverage can with printed label, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Grab the cylindrical white glossy can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the basket for holding items, and lift with another arm.",
+    "Pick up the medium metal can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick up the medium metal can, put it in the basket for holding items, and lift the basket for holding items.",
+    "Pick up the beverage can with printed label, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Pick the can with sealed gold top with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Take the can with sealed gold top in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.",
+    "Use the same arm to grab the cylindrical white glossy can, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick the can with sealed gold top with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the can with sealed gold top, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Pick up the cylindrical white glossy can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Lift the white can, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Use the left arm for the medium metal can, place the medium metal can in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the red-orange text on white can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Pick the beverage can with printed label with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Lift the smooth white can with accents, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Use the left arm to grab the red-orange text on white can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the smooth white can with accents with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to take the medium metal can, drop it in the brown basket, and lift the brown basket.",
+    "Grab the smooth white can with accents, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Take the can with red-orange text, set it into the basket for holding items, and raise the basket for holding items.",
+    "Take the cylindrical white glossy can, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Drop the white can with 3D RADY label into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.",
+    "Grab and drop the smooth white can with accents in the basket with loop handle, lift the basket with loop handle.",
+    "Hold the small white can with branding using the left arm, place it in the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the brown basket, and lift the brown basket with another arm.",
+    "Pick the can with red-orange text, set it in the woven basket, then lift the woven basket.",
+    "Lift the white can with 3D RADY label, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Place the can with sealed gold top in the light brown oval basket and then lift the light brown oval basket.",
+    "Grab the cylindrical white glossy can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Pick the can with gold top lid using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Pick up the can with red-orange text, set it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to grab the can with gold top lid and place in the basket with handle, lift the basket with handle with another arm.",
+    "Take the can with red-orange text and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick up the can with rounded cylindrical shape using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Use the left arm to grab the beverage can with printed label, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick the smooth white can with accents, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Grab the beverage can with printed label, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Take the can with sealed gold top with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Place the can with rounded cylindrical shape in the basket for carrying things and then use another arm to lift the basket for carrying things.",
+    "Lift the white can, put it in the woven basket, and carry the woven basket afterward.",
+    "Grab the white can with 3D RADY label, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.",
+    "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the light brown oval basket and lift the light brown oval basket.",
+    "Grab the cylindrical white glossy can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood."
+  ],
+  "unseen": [
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode17.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0474c60d1bd7fac2feda54477f83ca39ee86a87
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the white can, set it in the basket with handle, then lift the basket with handle.",
+    "Pick up the medium metal can with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.",
+    "Pick up the red-orange text on white can, set it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Place the can with red-orange text in the basket with loop handle and then lift the basket with loop handle.",
+    "Grab and drop the can with sealed gold top in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with gold top lid, place it into the brown basket, and lift the brown basket using the other arm.",
+    "Pick up the can with red-orange text, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Lift the small white can with branding, put it in the basket with handle, and carry the basket with handle afterward.",
+    "Use the left arm to grab the beverage can with printed label and place in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Use the left arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the can with rounded cylindrical shape, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Take the beverage can with printed label, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Use the left arm to grab the white can with 3D RADY label, put it into the basket with handle, and lift the basket with handle with another arm.",
+    "Place the beverage can with printed label inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Take the medium metal can in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.",
+    "Take the smooth white can with accents and put it in the basket with handle, then lift the basket with handle.",
+    "Use the left arm to pick the small white can with branding, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the white can with the left arm, set it in the brown basket, and lift with another arm.",
+    "Grab the red-orange text on white can, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.",
+    "Grab the cylindrical white glossy can, set it into the basket for holding items, then raise the basket for holding items.",
+    "Pick the medium metal can using the left arm, drop it in the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Grab the can with sealed gold top, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Take the can with red-orange text with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Lift the medium metal can, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Place the white can in the woven basket and then use another arm to lift the woven basket.",
+    "Lift the small white can with branding, set it in the basket with handle, and elevate the basket with handle.",
+    "Grab the small white can with branding, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Lift the can with rounded cylindrical shape, drop it into the brown basket, then carry the brown basket.",
+    "Drop the medium metal can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Pick the white can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Lift the can with sealed gold top, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Grab the can with sealed gold top, put it in the basket with handle, then raise the basket with handle.",
+    "Pick up the medium metal can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick the beverage can with printed label with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Use the same arm to grab the small white can with branding, place in the basket with loop handle, and then lift the basket with loop handle.",
+    "Grab the white can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Grab the white can with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Hold the smooth white can with accents using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the basket with handle and lift the basket with handle.",
+    "Lift the red-orange text on white can, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.",
+    "Use the left arm to take the smooth white can with accents, drop it in the brown basket, and lift the brown basket.",
+    "Grab the medium metal can, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Pick up the small white can with branding, put it in the brown basket, and lift the brown basket.",
+    "Pick the medium metal can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Pick the white can with 3D RADY label, set it in the basket for carrying things, and lift the basket for carrying things upward.",
+    "Use the left arm to grab the can with sealed gold top, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick up the small white can with branding, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Take the cylindrical white glossy can, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.",
+    "Pick the beverage can with printed label, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Pick up the white can with 3D RADY label with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Pick up the white can with 3D RADY label, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Place the can with gold top lid in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Grab and drop the white can with 3D RADY label in the basket for holding items, lift the basket for holding items.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Pick up the can with red-orange text, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the light brown oval basket, and lift the light brown oval basket.",
+    "Lift the can with rounded cylindrical shape, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Use the left arm to grab the can with red-orange text and place in the woven basket, lift the woven basket with another arm.",
+    "Use the left arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the smooth white can with accents, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Take the red-orange text on white can, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Use the left arm to grab the smooth white can with accents, put it into the basket with loop handle, and lift the basket with loop handle with another arm.",
+    "Place the can with gold top lid inside the brown basket, then lift the brown basket.",
+    "Take the can with sealed gold top in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Take the can with gold top lid and put it in the brown basket, then lift the brown basket.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Lift the smooth white can with accents with the left arm, set it in the basket with handle, and lift with another arm.",
+    "Grab the small white can with branding, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.",
+    "Grab the can with sealed gold top, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Grab the can with gold top lid, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Take the red-orange text on white can with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.",
+    "Lift the cylindrical white glossy can, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Place the smooth white can with accents in the woven basket and then use another arm to lift the woven basket.",
+    "Lift the cylindrical white glossy can, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Grab the can with sealed gold top, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Lift the smooth white can with accents, drop it into the basket for holding items, then carry the basket for holding items.",
+    "Drop the white can into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Pick the cylindrical white glossy can with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Lift the cylindrical white glossy can, place it inside the basket with handle, and elevate the basket with handle.",
+    "Grab the can with red-orange text, put it in the basket with handle, then raise the basket with handle.",
+    "Pick up the small white can with branding, put it into the basket for holding items, and lift the basket for holding items.",
+    "Pick the can with gold top lid with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Use the same arm to grab the small white can with branding, place in the basket with loop handle, and then lift the basket with loop handle.",
+    "Grab the beverage can with printed label, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.",
+    "Grab the beverage can with printed label with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Hold the can with rounded cylindrical shape using the left arm, place it in the woven basket, and lift the woven basket.",
+    "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the basket for holding items and lift the basket for holding items.",
+    "Lift the small white can with branding, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Use the left arm to take the white can, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the can with sealed gold top, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.",
+    "Pick up the white can, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick the medium metal can with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Pick the can with rounded cylindrical shape, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Use the left arm to grab the can with red-orange text, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick up the can with red-orange text, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the white can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the can with gold top lid using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm."
+  ],
+  "unseen": [
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode18.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..939c344169bdc23c6bebabe9d6f20a9f410b6c47
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the white can with 3D RADY label, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Grab the beverage can with printed label, put it in the brown basket, then raise the brown basket.",
+    "Grab the can with sealed gold top, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Lift the white can with 3D RADY label, place it inside the basket with handle, and elevate the basket with handle.",
+    "Lift the small white can with branding, put it in the brown basket, and carry the brown basket afterward.",
+    "Pick the smooth white can with accents, set it in the basket with handle, and lift the basket with handle upward.",
+    "Use the same arm to grab the white can, place in the basket with handle, and then lift the basket with handle.",
+    "Grab the can with rounded cylindrical shape, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Take the smooth white can with accents in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.",
+    "Grab the beverage can with printed label, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Place the cylindrical white glossy can in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Pick the can with gold top lid using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Grab and drop the red-orange text on white can in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Place the smooth white can with accents in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Take the beverage can with printed label and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the small white can with branding, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick up the white can with 3D RADY label, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick up the white can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Use the left arm to grab the white can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Pick the smooth white can with accents, set it in the brown basket, then lift the brown basket.",
+    "Lift the can with gold top lid, place it in the woven basket, pick up the woven basket afterward.",
+    "Lift the white can with 3D RADY label, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Hold the can with red-orange text using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Pick up the red-orange text on white can, place it into the basket for holding items, then lift the basket for holding items.",
+    "Grab the red-orange text on white can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the medium metal can with the left arm, set it in the brown basket, and lift with another arm.",
+    "Use the left arm to grab the medium metal can and place in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Lift the red-orange text on white can, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Grab the can with gold top lid, set it into the basket with handle, then raise the basket with handle.",
+    "Pick the smooth white can with accents with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Grab the medium metal can with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the basket for holding items, and lift the basket for holding items.",
+    "Pick the can with sealed gold top with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Lift the can with sealed gold top, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Pick up the cylindrical white glossy can, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Drop the cylindrical white glossy can into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Take the cylindrical white glossy can, place it into the basket with handle, then lift the basket with handle.",
+    "Pick up the red-orange text on white can, set it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Place the small white can with branding inside the basket for holding items, then lift the basket for holding items.",
+    "Grab the can with sealed gold top, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Pick up the can with red-orange text, put it into the brown basket, and lift the brown basket.",
+    "Take the can with red-orange text with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Grab the medium metal can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the light brown oval basket and lift the light brown oval basket.",
+    "Use the left arm to grab the smooth white can with accents, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.",
+    "Use the left arm to pick the white can, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Take the white can, set it into the woven basket, and raise the woven basket.",
+    "Pick the beverage can with printed label with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Use the left arm to take the small white can with branding, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the can with red-orange text, put it in the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Grab the can with red-orange text, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Lift the can with red-orange text, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Lift the medium metal can, put it in the light brown oval basket, and carry the light brown oval basket afterward.",
+    "Pick the can with red-orange text, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the white can with 3D RADY label, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Take the can with gold top lid in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.",
+    "Grab the can with gold top lid, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Place the cylindrical white glossy can in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Pick the white can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Grab and drop the red-orange text on white can in the brown basket with woven ridges, lift the brown basket with woven ridges.",
+    "Place the can with rounded cylindrical shape in the brown basket and then lift the brown basket.",
+    "Take the cylindrical white glossy can and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Use the left arm to grab the smooth white can with accents, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick up the cylindrical white glossy can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the can with gold top lid with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.",
+    "Use the left arm to grab the can with red-orange text, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Pick the can with rounded cylindrical shape, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Lift the can with gold top lid, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Lift the can with sealed gold top, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Hold the smooth white can with accents using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the beverage can with printed label, place it into the woven basket, then lift the woven basket.",
+    "Grab the medium metal can, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Use the left arm to hold the medium metal can, drop the medium metal can into the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the can with gold top lid with the left arm, set it in the basket with loop handle, and lift with another arm.",
+    "Use the left arm to grab the can with gold top lid and place in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Lift the can with gold top lid, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Grab the can with red-orange text, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Pick the can with gold top lid with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Use the left arm for the white can, place the white can in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the red-orange text on white can with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick up the medium metal can using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Lift the beverage can with printed label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Pick up the small white can with branding, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Drop the cylindrical white glossy can into the woven basket using the left arm, then lift the woven basket with another arm.",
+    "Take the white can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick up the can with sealed gold top, set it inside the woven basket, then lift the woven basket.",
+    "Place the can with rounded cylindrical shape inside the brown basket, then lift the brown basket.",
+    "Grab the can with gold top lid, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick up the can with rounded cylindrical shape, put it into the light brown oval basket, and lift the light brown oval basket.",
+    "Take the small white can with branding with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Grab the can with rounded cylindrical shape, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the basket with handle and lift the basket with handle.",
+    "Use the left arm to grab the small white can with branding, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Use the left arm to pick the white can, place it inside the basket with handle, then lift the basket with handle.",
+    "Take the smooth white can with accents, set it into the basket for holding items, and raise the basket for holding items.",
+    "Pick the white can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm."
+  ],
+  "unseen": [
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode19.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..3879f43937ad6ec07d16233d6e452f3f49ed0d42
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium metal can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Take the beverage can with printed label in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.",
+    "Grab the white can with 3D RADY label, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the basket for carrying things, and lift the basket for carrying things.",
+    "Place the white can in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Lift the beverage can with printed label, set it in the basket for carrying things, and elevate the basket for carrying things.",
+    "Pick the white can with 3D RADY label, set it in the basket for holding items, and lift the basket for holding items upward.",
+    "Hold the can with sealed gold top using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.",
+    "Pick up the beverage can with printed label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab and drop the can with red-orange text in the basket for carrying things, lift the basket for carrying things.",
+    "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick the can with red-orange text using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Grab the can with red-orange text, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Grab the smooth white can with accents, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Use the left arm to grab the can with red-orange text, put it into the woven basket, and lift the woven basket with another arm.",
+    "Pick the beverage can with printed label, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the can with sealed gold top, set it into the woven basket, then raise the woven basket.",
+    "Pick up the red-orange text on white can, put it in the basket with handle, and lift the basket with handle.",
+    "Use the left arm to grab the small white can with branding and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Lift the white can with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Take the can with rounded cylindrical shape, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Pick up the medium metal can with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Grab the red-orange text on white can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.",
+    "Grab the medium metal can with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Take the red-orange text on white can, set it into the basket with loop handle, and raise the basket with loop handle.",
+    "Place the can with gold top lid in the woven basket and then lift the woven basket.",
+    "Use the left arm to grab the can with gold top lid, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Take the can with sealed gold top with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Pick up the red-orange text on white can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Lift the small white can with branding, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Take the beverage can with printed label and put it in the basket with handle, then lift the basket with handle.",
+    "Lift the can with gold top lid, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Lift the medium metal can, put it in the woven basket, and carry the woven basket afterward.",
+    "Place the small white can with branding inside the basket for carrying things, then lift the basket for carrying things.",
+    "Lift the can with rounded cylindrical shape, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick the can with gold top lid with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Pick up the can with sealed gold top, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Pick the can with red-orange text with one arm, place it in the basket with handle, and lift the basket with handle using another arm.",
+    "Grab the white can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Use the same arm to grab the can with gold top lid, place in the basket with handle, and then lift the basket with handle.",
+    "Drop the white can into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.",
+    "Pick the can with gold top lid with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Grab the beverage can with printed label, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Lift the can with rounded cylindrical shape, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the basket for holding items and lift the basket for holding items.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick up the cylindrical white glossy can, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Use the left arm to take the white can, drop it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the red-orange text on white can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.",
+    "Take the can with sealed gold top in the left arm, place it into the brown basket, another arm lifts the brown basket.",
+    "Grab the small white can with branding, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Place the can with gold top lid in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Lift the small white can with branding, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Pick the white can with 3D RADY label, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Hold the can with sealed gold top using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Use the left arm to grab the small white can with branding, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Pick up the cylindrical white glossy can, put it into the basket for holding items, and lift the basket for holding items.",
+    "Grab and drop the beverage can with printed label in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.",
+    "Use the left arm to hold the smooth white can with accents, drop the smooth white can with accents into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick the cylindrical white glossy can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Grab the red-orange text on white can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Grab the white can, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Use the left arm to grab the beverage can with printed label, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Pick the small white can with branding, set it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the smooth white can with accents, set it into the basket with handle, then raise the basket with handle.",
+    "Pick up the white can with 3D RADY label, put it in the woven basket, and lift the woven basket.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the brown basket, lift the brown basket with another arm.",
+    "Lift the red-orange text on white can with the left arm, set it in the basket with loop handle, and lift with another arm.",
+    "Take the beverage can with printed label, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the can with sealed gold top with the left arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Grab the can with red-orange text, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Grab the white can with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Take the red-orange text on white can, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Place the white can with 3D RADY label in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Use the left arm to grab the can with red-orange text, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Take the can with rounded cylindrical shape with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.",
+    "Pick up the smooth white can with accents, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Lift the white can, place it inside the woven basket, and elevate the woven basket.",
+    "Take the smooth white can with accents and put it in the basket with handle, then lift the basket with handle.",
+    "Lift the can with rounded cylindrical shape, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Lift the white can with 3D RADY label, put it in the light brown oval basket, and carry the light brown oval basket afterward.",
+    "Place the white can with 3D RADY label inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Lift the can with rounded cylindrical shape, place it in the light brown oval basket, and raise the light brown oval basket.",
+    "Pick the smooth white can with accents with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Pick up the red-orange text on white can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Pick the white can with 3D RADY label with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the white can with 3D RADY label, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Use the same arm to grab the can with sealed gold top, place in the woven basket, and then lift the woven basket.",
+    "Drop the white can with 3D RADY label into the basket with handle using the left arm, then lift the basket with handle with another arm.",
+    "Pick the red-orange text on white can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Grab the small white can with branding, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Lift the can with red-orange text, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Grab the white can using the left arm, drop the white can into the basket with loop handle and lift the basket with loop handle.",
+    "Use the left arm to pick the cylindrical white glossy can, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the small white can with branding, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to take the can with sealed gold top, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode2.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd1a516cd503004251fced8d83cce1c02e9849c3
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the cylindrical white glossy can, put it into the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the can with red-orange text, set it in the basket with handle, and elevate the basket with handle.",
+    "Grab the small white can with branding, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Lift the white can with 3D RADY label with the left arm, set it in the basket for holding items, and lift with another arm.",
+    "Pick up the red-orange text on white can with the left arm, place into the woven basket, the other arm raises the woven basket.",
+    "Pick the small white can with branding using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Use the left arm to grab the white can with 3D RADY label and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Lift the small white can with branding, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Use the left arm to grab the small white can with branding, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick the smooth white can with accents, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick the can with sealed gold top, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.",
+    "Take the smooth white can with accents in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Grab and drop the smooth white can with accents in the basket with loop handle, lift the basket with loop handle.",
+    "Pick the red-orange text on white can with the left arm, drop it in the woven basket, lift the woven basket with another arm.",
+    "Use the left arm for the white can, place the white can in the basket with loop handle, and lift the basket with loop handle.",
+    "Grab the cylindrical white glossy can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Grab the can with sealed gold top, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Lift the small white can with branding, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Take the smooth white can with accents, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Lift the beverage can with printed label, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Grab the can with rounded cylindrical shape, drop it into the basket with handle, and raise the basket with handle.",
+    "Grab the can with sealed gold top, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Drop the cylindrical white glossy can into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.",
+    "Take the can with sealed gold top, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to grab the can with gold top lid, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Use the left arm to grab the can with red-orange text, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Pick up the beverage can with printed label, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the brown basket, then lift the brown basket.",
+    "Pick up the can with sealed gold top, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Lift the can with red-orange text, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Place the beverage can with printed label in the brown basket and then lift the brown basket.",
+    "Place the white can inside the light brown oval basket, then lift the light brown oval basket.",
+    "Take the beverage can with printed label with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the white can, drop it into the basket with handle, and raise the basket with handle with the other arm.",
+    "Use the same arm to grab the can with sealed gold top, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Take the red-orange text on white can and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the can with red-orange text with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Grab the white can with 3D RADY label using the left arm, drop the white can with 3D RADY label into the basket for carrying things and lift the basket for carrying things.",
+    "Pick the smooth white can with accents with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the can with sealed gold top, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Grab the smooth white can with accents, place it in the basket with handle, and then lift the basket with handle.",
+    "Pick up the small white can with branding, set it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Pick the can with sealed gold top with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Pick up the white can using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Pick up the can with rounded cylindrical shape, put it in the woven basket, and lift the woven basket.",
+    "Hold the beverage can with printed label using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Use the left arm to take the can with gold top lid, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Lift the can with rounded cylindrical shape, place it in the woven basket, and raise the woven basket.",
+    "Place the can with rounded cylindrical shape in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.",
+    "Pick up the can with gold top lid, put it into the basket with handle, and lift the basket with handle.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Lift the can with rounded cylindrical shape, set it in the brown basket, and elevate the brown basket.",
+    "Grab the can with rounded cylindrical shape, put it in the basket for holding items, then raise the basket for holding items.",
+    "Lift the can with sealed gold top with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Pick up the cylindrical white glossy can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Pick the can with rounded cylindrical shape using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Lift the red-orange text on white can, place it inside the brown basket, and elevate the brown basket.",
+    "Use the left arm to grab the can with gold top lid, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick the medium metal can, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick the white can, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Take the medium metal can in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Grab and drop the can with red-orange text in the basket made of woven wood, lift the basket made of woven wood.",
+    "Pick the can with rounded cylindrical shape with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the smooth white can with accents, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Grab the red-orange text on white can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Lift the can with sealed gold top, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.",
+    "Take the beverage can with printed label, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Lift the beverage can with printed label, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Grab the medium metal can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Grab the white can, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Drop the small white can with branding into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Take the can with gold top lid, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Use the left arm to grab the white can, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Use the left arm to grab the white can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Pick up the can with rounded cylindrical shape, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to pick the beverage can with printed label, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the small white can with branding, place it in the brown basket, and then lift the brown basket.",
+    "Lift the can with red-orange text, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Place the cylindrical white glossy can in the basket with loop handle and then lift the basket with loop handle.",
+    "Place the cylindrical white glossy can inside the woven basket, then lift the woven basket.",
+    "Take the can with red-orange text with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Grab the white can, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Use the same arm to grab the cylindrical white glossy can, place in the basket for holding items, and then lift the basket for holding items.",
+    "Take the can with red-orange text and put it in the basket with handle, then lift the basket with handle.",
+    "Grab the can with red-orange text with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Grab the medium metal can using the left arm, drop the medium metal can into the brown basket with woven ridges and lift the brown basket with woven ridges.",
+    "Pick the white can with 3D RADY label with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the small white can with branding, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Grab the smooth white can with accents, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Pick up the can with rounded cylindrical shape, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick the beverage can with printed label with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Pick up the white can with 3D RADY label, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Hold the smooth white can with accents using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to take the white can with 3D RADY label, drop it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Lift the can with red-orange text, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Place the can with gold top lid in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode20.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d690ba0f134bcec630675ebee6a4c91526b44e
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the basket made of woven wood and lift the basket made of woven wood.",
+    "Take the can with rounded cylindrical shape, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Grab the medium metal can, put it in the basket for holding items, then raise the basket for holding items.",
+    "Pick the small white can with branding with one arm, place it in the basket with handle, and lift the basket with handle using another arm.",
+    "Use the left arm to grab the can with red-orange text and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Pick up the can with rounded cylindrical shape, put it in the basket for holding items, and lift the basket for holding items.",
+    "Pick the medium metal can using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Grab and drop the small white can with branding in the brown basket, lift the brown basket.",
+    "Pick up the red-orange text on white can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Hold the cylindrical white glossy can using the left arm, place it in the basket with handle, and lift the basket with handle.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the basket for carrying things, and lift the basket for carrying things.",
+    "Place the smooth white can with accents in the basket for carrying things and then use another arm to lift the basket for carrying things.",
+    "Use the left arm to grab the beverage can with printed label, put it into the light brown oval basket, and lift the light brown oval basket with another arm.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Pick the beverage can with printed label, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Pick up the medium metal can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the medium metal can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Grab the red-orange text on white can, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Grab the cylindrical white glossy can, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Pick up the small white can with branding with the left arm, place into the brown basket, the other arm raises the brown basket.",
+    "Pick the can with red-orange text with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the brown basket, and lift the brown basket with the other arm.",
+    "Grab the can with sealed gold top, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Lift the white can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Pick the smooth white can with accents, set it in the basket with handle, then lift the basket with handle.",
+    "Pick up the white can with 3D RADY label, set it inside the basket with handle, then lift the basket with handle.",
+    "Pick the medium metal can with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Lift the white can with 3D RADY label, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Take the small white can with branding in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.",
+    "Grab the white can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Grab the can with red-orange text, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.",
+    "Lift the beverage can with printed label, drop it into the woven basket, then carry the woven basket.",
+    "Grab the red-orange text on white can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Lift the can with red-orange text with the left arm, set it in the wooden basket with curved handle, and lift with another arm.",
+    "Pick up the can with gold top lid, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Place the smooth white can with accents in the woven basket and then lift the woven basket.",
+    "Take the can with red-orange text and put it in the basket for holding items, then lift the basket for holding items.",
+    "Take the white can with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Use the left arm to take the can with gold top lid, drop it in the basket with handle, and lift the basket with handle.",
+    "Lift the medium metal can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Take the can with gold top lid, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to pick the can with red-orange text, place it inside the basket for holding items, then lift the basket for holding items.",
+    "Drop the medium metal can into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Use the left arm to grab the beverage can with printed label, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Place the smooth white can with accents inside the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Lift the can with red-orange text, put it in the basket for carrying things, and carry the basket for carrying things afterward.",
+    "Lift the can with red-orange text, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the basket with handle and lift the basket with handle.",
+    "Take the white can with 3D RADY label, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Grab the white can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Pick the medium metal can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Use the left arm to grab the beverage can with printed label and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick up the beverage can with printed label, put it in the basket for holding items, and lift the basket for holding items.",
+    "Pick the beverage can with printed label using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Grab and drop the can with red-orange text in the basket with loop handle, lift the basket with loop handle.",
+    "Pick up the white can with 3D RADY label, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Hold the white can using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm for the white can, place the white can in the basket for holding items, and lift the basket for holding items.",
+    "Place the white can in the woven basket and then use another arm to lift the woven basket.",
+    "Use the left arm to grab the can with sealed gold top, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.",
+    "Pick up the smooth white can with accents using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Pick the beverage can with printed label, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Pick up the can with sealed gold top, place it into the basket with handle, then lift the basket with handle.",
+    "Grab the small white can with branding, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Grab the small white can with branding, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Grab the can with red-orange text, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.",
+    "Use the same arm to grab the cylindrical white glossy can, place in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Pick up the cylindrical white glossy can with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Pick the medium metal can with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the beverage can with printed label with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Grab the can with sealed gold top, set it into the woven basket, then raise the woven basket.",
+    "Lift the smooth white can with accents, place it inside the basket for carrying things, and elevate the basket for carrying things.",
+    "Pick the white can, set it in the woven basket, then lift the woven basket.",
+    "Pick up the smooth white can with accents, set it inside the woven basket, then lift the woven basket.",
+    "Pick the can with rounded cylindrical shape with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Lift the small white can with branding, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Take the medium metal can in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.",
+    "Grab the smooth white can with accents, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.",
+    "Grab the red-orange text on white can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Lift the medium metal can, drop it into the woven basket, then carry the woven basket.",
+    "Grab the red-orange text on white can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Lift the beverage can with printed label with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Pick up the red-orange text on white can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Place the can with gold top lid in the woven basket and then lift the woven basket.",
+    "Take the medium metal can and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Take the can with rounded cylindrical shape with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Use the left arm to take the small white can with branding, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the cylindrical white glossy can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Take the small white can with branding, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Drop the white can into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.",
+    "Use the left arm to grab the small white can with branding, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Place the can with gold top lid inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to grab the can with gold top lid, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the beverage can with printed label, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Lift the small white can with branding, set it in the basket for carrying things, and elevate the basket for carrying things."
+  ],
+  "unseen": [
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode21.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..fca63fa1ed29040ba317c2b09db801129934396e
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the white can, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Use the same arm to grab the can with red-orange text, place in the basket for holding items, and then lift the basket for holding items.",
+    "Take the red-orange text on white can with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Pick the can with red-orange text, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Use the left arm to grab the small white can with branding and place in the woven basket, lift the woven basket with another arm.",
+    "Take the medium metal can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Place the cylindrical white glossy can inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Take the can with red-orange text in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Take the white can with 3D RADY label and put it in the basket for holding items, then lift the basket for holding items.",
+    "Pick up the red-orange text on white can, set it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the can with red-orange text, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Lift the can with red-orange text, place it inside the light brown oval basket, and elevate the light brown oval basket.",
+    "Grab the white can with 3D RADY label, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Use the left arm to grab the red-orange text on white can, put it into the brown basket, and lift the brown basket with another arm.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the cylindrical white glossy can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Use the left arm to take the can with sealed gold top, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Drop the can with sealed gold top into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Grab the medium metal can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Lift the can with red-orange text, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Pick up the medium metal can, put it in the woven basket, and lift the woven basket.",
+    "Grab the small white can with branding, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Use the left arm to grab the can with gold top lid, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the small white can with branding, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Pick the white can with 3D RADY label with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the basket with handle and lift the basket with handle.",
+    "Grab the smooth white can with accents, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Grab the can with gold top lid, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.",
+    "Pick up the white can using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Lift the medium metal can with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Hold the white can using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick up the medium metal can, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Pick up the beverage can with printed label with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the basket with handle, then lift the basket with handle.",
+    "Pick up the beverage can with printed label, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick up the white can with 3D RADY label, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Pick the smooth white can with accents with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Lift the red-orange text on white can, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Place the medium metal can in the basket for carrying things and then lift the basket for carrying things.",
+    "Grab the cylindrical white glossy can with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Place the smooth white can with accents in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.",
+    "Lift the smooth white can with accents, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Pick the beverage can with printed label using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Lift the can with rounded cylindrical shape, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Grab and drop the medium metal can in the light brown oval basket, lift the light brown oval basket.",
+    "Take the cylindrical white glossy can, set it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick the can with red-orange text, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Use the left arm to grab the can with sealed gold top, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Pick the medium metal can with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Use the left arm for the medium metal can, place the medium metal can in the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the small white can with branding, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Use the same arm to grab the beverage can with printed label, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Take the can with red-orange text with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.",
+    "Pick the can with red-orange text, set it in the basket made of woven wood, and lift the basket made of woven wood upward.",
+    "Use the left arm to grab the medium metal can and place in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Take the can with gold top lid, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Place the can with red-orange text inside the brown basket, then lift the brown basket.",
+    "Take the can with red-orange text in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Take the medium metal can and put it in the brown basket, then lift the brown basket.",
+    "Pick up the small white can with branding, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the medium metal can, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Lift the can with sealed gold top, place it inside the basket for holding items, and elevate the basket for holding items.",
+    "Grab the can with rounded cylindrical shape, place it in the woven basket, and then lift the woven basket.",
+    "Use the left arm to grab the can with sealed gold top, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the red-orange text on white can, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Use the left arm to take the white can, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Drop the can with red-orange text into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Grab the red-orange text on white can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Lift the cylindrical white glossy can, drop it into the basket with handle, then carry the basket with handle.",
+    "Pick up the white can with 3D RADY label, put it in the brown basket, and lift the brown basket.",
+    "Grab the can with red-orange text, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.",
+    "Use the left arm to grab the can with sealed gold top, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the smooth white can with accents, set it into the basket with handle, then raise the basket with handle.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Grab the medium metal can using the left arm, drop the medium metal can into the wooden basket with curved handle and lift the wooden basket with curved handle.",
+    "Grab the red-orange text on white can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.",
+    "Grab the smooth white can with accents, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.",
+    "Pick up the white can with 3D RADY label using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Lift the white can with 3D RADY label with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Hold the red-orange text on white can using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the can with gold top lid, place it in the woven basket, and then lift the woven basket.",
+    "Pick up the can with gold top lid with the left arm, place into the brown basket, the other arm raises the brown basket.",
+    "Use the left arm to pick the cylindrical white glossy can, place it inside the brown basket, then lift the brown basket.",
+    "Pick up the beverage can with printed label, put it into the brown basket, and lift the brown basket.",
+    "Pick up the red-orange text on white can, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick the beverage can with printed label with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Lift the cylindrical white glossy can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Place the red-orange text on white can in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Grab the white can with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Place the white can in the basket for carrying things and then use another arm to lift the basket for carrying things.",
+    "Lift the can with gold top lid, put it in the woven basket, and carry the woven basket afterward.",
+    "Pick the can with gold top lid using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Lift the white can, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Grab and drop the small white can with branding in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Take the red-orange text on white can, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Pick the white can with 3D RADY label, set it in the basket for holding items, then lift the basket for holding items.",
+    "Use the left arm to grab the smooth white can with accents, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Pick the beverage can with printed label with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm."
+  ],
+  "unseen": [
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode22.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..0be7f417666f0577cdf352c608f6b8d55e3a6478
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the can with sealed gold top using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Pick the can with red-orange text, set it in the basket with handle, and lift the basket with handle upward.",
+    "Pick up the white can with 3D RADY label using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the basket with handle and lift the basket with handle.",
+    "Use the same arm to grab the can with red-orange text, place in the woven basket, and then lift the woven basket.",
+    "Place the white can with 3D RADY label in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Pick up the can with rounded cylindrical shape, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Pick the can with red-orange text, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the beverage can with printed label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Use the left arm to grab the medium metal can, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Place the small white can with branding in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Pick up the can with rounded cylindrical shape, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the brown basket, and lift the brown basket.",
+    "Pick up the can with red-orange text, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab and drop the can with gold top lid in the basket made of woven wood, lift the basket made of woven wood.",
+    "Lift the white can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Use the left arm to grab the can with red-orange text, place it in the woven basket, and lift the woven basket.",
+    "Lift the white can, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Lift the cylindrical white glossy can with the left arm, set it in the wooden basket with curved handle, and lift with another arm.",
+    "Place the white can inside the light brown oval basket, then lift the light brown oval basket.",
+    "Take the small white can with branding, set it into the woven basket, and raise the woven basket.",
+    "Pick the white can with 3D RADY label with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Lift the red-orange text on white can, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Lift the can with rounded cylindrical shape, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Grab the cylindrical white glossy can with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Grab the can with red-orange text, place it in the brown basket, and lift the brown basket upwards.",
+    "Take the red-orange text on white can with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Pick the smooth white can with accents with the left arm, drop it in the woven basket, lift the woven basket with another arm.",
+    "Grab the smooth white can with accents, place it in the brown basket, and then lift the brown basket.",
+    "Lift the medium metal can, set it in the light brown oval basket, and elevate the light brown oval basket.",
+    "Pick the smooth white can with accents with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Use the left arm to pick the small white can with branding, place it inside the basket for holding items, then lift the basket for holding items.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the beverage can with printed label, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the can with rounded cylindrical shape, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the can with red-orange text, set it into the basket with handle, then raise the basket with handle.",
+    "Grab the can with sealed gold top, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Lift the can with rounded cylindrical shape, place it inside the brown basket, and elevate the brown basket.",
+    "Use the left arm to grab the red-orange text on white can, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.",
+    "Drop the can with sealed gold top into the woven basket using the left arm, then lift the woven basket with another arm.",
+    "Use the left arm to grab the white can and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Take the white can with 3D RADY label, place it into the woven basket, then lift the woven basket.",
+    "Grab the can with red-orange text, drop it into the brown basket, then use another arm for the brown basket.",
+    "Take the white can with 3D RADY label and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Take the white can with 3D RADY label in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Hold the red-orange text on white can using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to take the can with sealed gold top, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the smooth white can with accents, drop it into the basket with handle, and raise the basket with handle.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Pick the medium metal can, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Pick up the white can using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Grab the medium metal can using the left arm, drop the medium metal can into the basket made of woven wood and lift the basket made of woven wood.",
+    "Use the same arm to grab the smooth white can with accents, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Place the white can with 3D RADY label in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.",
+    "Pick up the medium metal can, put it into the basket with handle, and lift the basket with handle.",
+    "Pick the can with sealed gold top, set it in the brown basket, then lift the brown basket.",
+    "Grab the can with sealed gold top, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Use the left arm to grab the can with gold top lid, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.",
+    "Place the medium metal can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Pick up the white can, place it in the basket with handle, and then lift the basket with handle.",
+    "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the woven basket, and lift the woven basket.",
+    "Pick up the white can, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Grab and drop the small white can with branding in the basket for holding items, lift the basket for holding items.",
+    "Lift the red-orange text on white can, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Use the left arm to grab the small white can with branding, place it in the basket for holding items, and lift the basket for holding items.",
+    "Lift the beverage can with printed label, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Lift the small white can with branding with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.",
+    "Place the can with red-orange text inside the light brown oval basket, then lift the light brown oval basket.",
+    "Take the cylindrical white glossy can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Pick the white can with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Lift the small white can with branding, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.",
+    "Lift the smooth white can with accents, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Grab the medium metal can with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Grab the white can with 3D RADY label, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.",
+    "Take the medium metal can with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Pick the medium metal can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Grab the medium metal can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Lift the red-orange text on white can, set it in the light brown oval basket, and elevate the light brown oval basket.",
+    "Pick the cylindrical white glossy can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Use the left arm to pick the beverage can with printed label, place it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Pick up the beverage can with printed label with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, set it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the cylindrical white glossy can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the woven basket, and lift the woven basket.",
+    "Pick up the red-orange text on white can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the can with rounded cylindrical shape, set it into the basket with handle, then raise the basket with handle.",
+    "Grab the cylindrical white glossy can, put it in the brown basket, then raise the brown basket.",
+    "Lift the cylindrical white glossy can, place it inside the basket for holding items, and elevate the basket for holding items.",
+    "Use the left arm to grab the can with sealed gold top, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Drop the can with gold top lid into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Take the small white can with branding, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the cylindrical white glossy can, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.",
+    "Take the can with red-orange text and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Take the red-orange text on white can in the left arm, place it into the basket with handle, another arm lifts the basket with handle.",
+    "Hold the smooth white can with accents using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to take the smooth white can with accents, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the can with rounded cylindrical shape, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode23.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..748f15679c5dfeb3bea817c645e8e0f636f7cd2e
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth white can with accents, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Grab and drop the small white can with branding in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Pick up the white can with the left arm, place into the woven basket, the other arm raises the woven basket.",
+    "Pick up the medium metal can, place it in the brown basket, and then lift the brown basket.",
+    "Use the left arm to grab the can with sealed gold top, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Pick up the red-orange text on white can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Drop the smooth white can with accents into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.",
+    "Lift the red-orange text on white can, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Lift the white can with the left arm, set it in the basket with handle, and lift with another arm.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Lift the can with gold top lid, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Pick the smooth white can with accents, set it in the brown basket, and lift the brown basket upward.",
+    "Lift the beverage can with printed label, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Lift the red-orange text on white can, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Pick the white can using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Grab the can with sealed gold top, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Grab the medium metal can using the left arm, drop the medium metal can into the basket made of woven wood and lift the basket made of woven wood.",
+    "Pick the white can with 3D RADY label, set it in the basket for holding items, then lift the basket for holding items.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Pick up the white can with 3D RADY label, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm for the white can, place the white can in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the red-orange text on white can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.",
+    "Grab the can with rounded cylindrical shape, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Place the cylindrical white glossy can in the basket for holding items and then use another arm to lift the basket for holding items.",
+    "Use the same arm to grab the can with gold top lid, place in the basket with loop handle, and then lift the basket with loop handle.",
+    "Grab the smooth white can with accents, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Take the can with sealed gold top, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Take the red-orange text on white can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the beverage can with printed label, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Lift the white can, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Pick up the beverage can with printed label, put it into the basket with loop handle, and lift the basket with loop handle.",
+    "Use the left arm to take the can with rounded cylindrical shape, drop it in the brown basket, and lift the brown basket.",
+    "Grab the medium metal can, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Hold the can with sealed gold top using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the red-orange text on white can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Pick up the white can, put it in the basket with loop handle, and lift the basket with loop handle.",
+    "Take the cylindrical white glossy can in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Pick the medium metal can with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Grab the beverage can with printed label, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Lift the beverage can with printed label, put it in the brown basket, and carry the brown basket afterward.",
+    "Place the white can in the basket with loop handle and then lift the basket with loop handle.",
+    "Place the beverage can with printed label inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Take the can with red-orange text with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Pick the red-orange text on white can with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Grab the medium metal can, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Pick the smooth white can with accents with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Use the left arm to grab the white can with 3D RADY label, place it in the brown basket, and lift the brown basket.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Take the smooth white can with accents and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick up the can with red-orange text using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Grab the can with gold top lid, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Grab and drop the can with sealed gold top in the basket for holding items, lift the basket for holding items.",
+    "Pick up the beverage can with printed label with the left arm, place into the brown basket, the other arm raises the brown basket.",
+    "Pick up the can with rounded cylindrical shape, place it in the woven basket, and then lift the woven basket.",
+    "Use the left arm to grab the smooth white can with accents, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Pick up the smooth white can with accents, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Drop the small white can with branding into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Lift the cylindrical white glossy can, place it inside the basket with loop handle, and elevate the basket with loop handle.",
+    "Lift the red-orange text on white can with the left arm, set it in the basket for holding items, and lift with another arm.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the brown basket, then lift the brown basket.",
+    "Lift the can with rounded cylindrical shape, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Pick the red-orange text on white can, set it in the woven basket, and lift the woven basket upward.",
+    "Lift the beverage can with printed label, drop it into the basket for holding items, then carry the basket for holding items.",
+    "Lift the white can with 3D RADY label, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Pick the medium metal can using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab the red-orange text on white can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.",
+    "Pick the white can with 3D RADY label, set it in the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the can with red-orange text with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Pick up the beverage can with printed label, place it into the brown basket, then lift the brown basket.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the can with gold top lid, put it into the basket with loop handle, and lift the basket with loop handle with another arm.",
+    "Grab the small white can with branding, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Place the smooth white can with accents in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.",
+    "Use the same arm to grab the white can, place in the light brown oval basket, and then lift the light brown oval basket.",
+    "Grab the can with red-orange text, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Take the white can with 3D RADY label, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Take the can with sealed gold top, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the can with rounded cylindrical shape, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Lift the smooth white can with accents, place it in the brown basket, and raise the brown basket.",
+    "Pick up the can with gold top lid, put it into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to take the can with red-orange text, drop it in the basket with handle, and lift the basket with handle.",
+    "Grab the cylindrical white glossy can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Hold the white can using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Use the left arm to grab the medium metal can and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Pick up the can with sealed gold top, put it in the basket with handle, and lift the basket with handle.",
+    "Take the smooth white can with accents in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Pick the beverage can with printed label with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Grab the can with sealed gold top, drop it into the brown basket, then use another arm for the brown basket.",
+    "Lift the beverage can with printed label, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Place the medium metal can in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Place the can with red-orange text inside the basket with handle, then lift the basket with handle.",
+    "Take the beverage can with printed label with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Pick the white can with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Grab the small white can with branding, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Pick the can with gold top lid with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Use the left arm to grab the can with gold top lid, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the basket for carrying things, and lift the basket for carrying things.",
+    "Take the beverage can with printed label and put it in the woven basket, then lift the woven basket.",
+    "Pick up the can with gold top lid using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm."
+  ],
+  "unseen": [
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode24.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..2feeeeeb94082c580f94a0f9314854518584c57e
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the can with gold top lid with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Grab the small white can with branding, set it into the basket with handle, then raise the basket with handle.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab the smooth white can with accents, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Pick the beverage can with printed label with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Use the left arm to grab the can with sealed gold top, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Grab the small white can with branding, place it in the brown basket, and lift the brown basket upwards.",
+    "Pick up the white can, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Grab the medium metal can using the left arm, drop the medium metal can into the basket made of woven wood and lift the basket made of woven wood.",
+    "Drop the beverage can with printed label into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.",
+    "Lift the white can, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Place the cylindrical white glossy can in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Take the small white can with branding and put it in the brown basket, then lift the brown basket.",
+    "Pick the beverage can with printed label with one arm, place it in the basket with handle, and lift the basket with handle using another arm.",
+    "Hold the can with gold top lid using the left arm, place it in the basket for holding items, and lift the basket for holding items.",
+    "Lift the can with sealed gold top, put it in the brown basket, and carry the brown basket afterward.",
+    "Place the can with rounded cylindrical shape in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Pick up the white can with 3D RADY label, put it in the basket with loop handle, and lift the basket with loop handle.",
+    "Grab and drop the can with rounded cylindrical shape in the basket for holding items, lift the basket for holding items.",
+    "Take the beverage can with printed label, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Pick the can with gold top lid, set it in the woven basket, and lift the woven basket upward.",
+    "Pick up the small white can with branding, put it into the woven basket, and lift the woven basket.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.",
+    "Grab the can with sealed gold top, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Lift the medium metal can, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Lift the smooth white can with accents, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Lift the white can with 3D RADY label, place it in the brown basket, and raise the brown basket.",
+    "Take the white can with 3D RADY label, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Grab the can with rounded cylindrical shape, drop it into the brown basket, then use another arm for the brown basket.",
+    "Pick the white can with 3D RADY label, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with red-orange text, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Grab the medium metal can with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to take the white can with 3D RADY label, drop it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the can with red-orange text, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Place the small white can with branding inside the basket for carrying things, then lift the basket for carrying things.",
+    "Take the can with red-orange text in the left arm, place it into the basket for holding items, another arm lifts the basket for holding items.",
+    "Pick up the can with rounded cylindrical shape, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the medium metal can using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Use the left arm to grab the smooth white can with accents and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Pick up the smooth white can with accents, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Use the same arm to grab the can with gold top lid, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the small white can with branding, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Lift the small white can with branding with the left arm, set it in the brown basket, and lift with another arm.",
+    "Grab the white can, put it in the woven basket, then raise the woven basket.",
+    "Lift the can with sealed gold top, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Use the left arm to grab the smooth white can with accents, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Use the left arm to pick the can with rounded cylindrical shape, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Take the smooth white can with accents with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the red-orange text on white can, set it into the brown basket, then raise the brown basket.",
+    "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab the white can, place it in the woven basket, and raise the woven basket using the other arm.",
+    "Pick the cylindrical white glossy can with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Use the left arm to grab the can with red-orange text, place it into the basket with handle, and lift the basket with handle using the other arm.",
+    "Grab the small white can with branding, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Pick up the red-orange text on white can, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the wooden basket with curved handle and lift the wooden basket with curved handle.",
+    "Drop the smooth white can with accents into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Lift the red-orange text on white can, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Place the red-orange text on white can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.",
+    "Take the cylindrical white glossy can and put it in the basket for holding items, then lift the basket for holding items.",
+    "Pick the can with red-orange text with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Hold the can with rounded cylindrical shape using the left arm, place it in the woven basket, and lift the woven basket.",
+    "Lift the red-orange text on white can, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Place the beverage can with printed label in the brown basket and then lift the brown basket.",
+    "Pick up the can with red-orange text, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab and drop the white can with 3D RADY label in the basket with handle, lift the basket with handle.",
+    "Take the can with sealed gold top, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick the can with rounded cylindrical shape, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.",
+    "Pick up the can with red-orange text, put it into the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the smooth white can with accents with the left arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Grab the can with gold top lid, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Lift the smooth white can with accents, drop it into the basket with loop handle, then carry the basket with loop handle.",
+    "Lift the medium metal can, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Lift the smooth white can with accents, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Take the white can, set it into the basket for holding items, and raise the basket for holding items.",
+    "Pick the can with sealed gold top with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the can with rounded cylindrical shape, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.",
+    "Pick the white can, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to grab the can with red-orange text, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Grab the small white can with branding with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the can with sealed gold top, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Place the can with gold top lid inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Take the small white can with branding in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.",
+    "Pick up the beverage can with printed label, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Pick up the white can with 3D RADY label using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Use the left arm to grab the red-orange text on white can and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Pick up the can with gold top lid, place it in the brown basket, and then lift the brown basket.",
+    "Use the same arm to grab the can with red-orange text, place in the light brown oval basket, and then lift the light brown oval basket.",
+    "Grab the beverage can with printed label, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Lift the cylindrical white glossy can with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Grab the can with red-orange text, put it in the basket with handle, then raise the basket with handle.",
+    "Lift the can with rounded cylindrical shape, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Use the left arm to grab the can with gold top lid, place it in the brown basket, and lift the brown basket.",
+    "Use the left arm for the white can, place the white can in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick the cylindrical white glossy can using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Use the left arm to pick the small white can with branding, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode25.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ddd89466a531c1182696de71b5460eb1aa0efcf
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white can with 3D RADY label, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the brown basket, the other arm raises the brown basket.",
+    "Lift the small white can with branding, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Use the left arm to grab the red-orange text on white can, put it into the brown basket, and lift the brown basket with another arm.",
+    "Grab the medium metal can with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Place the white can in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Take the medium metal can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Place the can with sealed gold top inside the basket for holding items, then lift the basket for holding items.",
+    "Lift the medium metal can, place it inside the basket with loop handle, and elevate the basket with loop handle.",
+    "Pick the can with sealed gold top, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Grab the small white can with branding, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Use the left arm for the small white can with branding, place the small white can with branding in the basket with handle, and lift the basket with handle.",
+    "Pick the smooth white can with accents with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Take the smooth white can with accents, set it into the basket with loop handle, and raise the basket with loop handle.",
+    "Drop the white can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Take the can with sealed gold top in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Pick the white can, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick up the can with gold top lid, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Take the can with gold top lid and put it in the basket with handle, then lift the basket with handle.",
+    "Grab the red-orange text on white can, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Lift the can with rounded cylindrical shape, place it in the light brown oval basket, and raise the light brown oval basket.",
+    "Lift the cylindrical white glossy can, set it in the light brown oval basket, and elevate the light brown oval basket.",
+    "Use the left arm to pick the can with gold top lid, place it inside the brown basket, then lift the brown basket.",
+    "Grab the medium metal can using the left arm, drop the medium metal can into the light brown oval basket and lift the light brown oval basket.",
+    "Pick the small white can with branding with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Use the left arm to take the beverage can with printed label, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to grab the can with gold top lid and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick up the beverage can with printed label, place it in the woven basket, and then lift the woven basket.",
+    "Use the same arm to grab the beverage can with printed label, place in the light brown oval basket, and then lift the light brown oval basket.",
+    "Grab the small white can with branding, drop it into the woven basket, and raise the woven basket.",
+    "Lift the can with red-orange text with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Place the cylindrical white glossy can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Grab and drop the can with gold top lid in the light brown oval basket, lift the light brown oval basket.",
+    "Grab the white can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Pick the can with red-orange text with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Lift the can with rounded cylindrical shape, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.",
+    "Grab the can with red-orange text, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.",
+    "Pick up the red-orange text on white can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the white can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Grab the small white can with branding, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Pick the can with red-orange text using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Pick up the medium metal can using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the light brown oval basket, and lift the light brown oval basket.",
+    "Pick up the red-orange text on white can, place it into the basket for holding items, then lift the basket for holding items.",
+    "Grab the white can, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Hold the can with red-orange text using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to grab the small white can with branding, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the can with gold top lid, drop it into the woven basket, then carry the woven basket.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.",
+    "Lift the small white can with branding, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Use the left arm to grab the small white can with branding, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.",
+    "Grab the cylindrical white glossy can with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Place the smooth white can with accents in the woven basket and then use another arm to lift the woven basket.",
+    "Take the white can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Place the smooth white can with accents inside the brown basket, then lift the brown basket.",
+    "Lift the can with sealed gold top, place it inside the basket with handle, and elevate the basket with handle.",
+    "Pick the can with red-orange text, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Grab the smooth white can with accents, place it in the woven basket, and lift the woven basket upwards.",
+    "Use the left arm for the white can, place the white can in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick the medium metal can with one arm, place it in the basket with handle, and lift the basket with handle using another arm.",
+    "Take the small white can with branding, set it into the brown basket, and raise the brown basket.",
+    "Drop the can with sealed gold top into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Take the can with rounded cylindrical shape in the left arm, place it into the brown basket, another arm lifts the brown basket.",
+    "Pick the small white can with branding, set it in the woven basket, then lift the woven basket.",
+    "Pick up the can with gold top lid, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Take the medium metal can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the can with gold top lid, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Take the medium metal can with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.",
+    "Lift the can with gold top lid, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Lift the small white can with branding, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Use the left arm to pick the cylindrical white glossy can, place it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the basket for carrying things and lift the basket for carrying things.",
+    "Pick the beverage can with printed label with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Use the left arm to take the white can, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the can with gold top lid and place in the brown basket, lift the brown basket with another arm.",
+    "Pick up the smooth white can with accents, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Use the same arm to grab the can with gold top lid, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Grab the smooth white can with accents, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Lift the can with sealed gold top with the left arm, set it in the brown basket with woven ridges, and lift with another arm.",
+    "Place the can with red-orange text in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Grab and drop the can with rounded cylindrical shape in the basket made of woven wood, lift the basket made of woven wood.",
+    "Grab the can with red-orange text, place it in the woven basket, and raise the woven basket using the other arm.",
+    "Pick the white can with 3D RADY label with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Lift the white can with 3D RADY label, put it in the brown basket, and carry the brown basket afterward.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Grab the red-orange text on white can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.",
+    "Pick up the can with gold top lid, put it in the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the small white can with branding, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the white can with 3D RADY label, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Pick the can with rounded cylindrical shape using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Use the left arm to hold the medium metal can, drop the medium metal can into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the smooth white can with accents, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the can with rounded cylindrical shape, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Pick up the small white can with branding, set it inside the brown basket, then lift the brown basket.",
+    "Hold the beverage can with printed label using the left arm, place it in the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to grab the red-orange text on white can, place it in the light brown oval basket, and lift the light brown oval basket."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode26.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..62f2bc1fd01b4fbd39179cd5354e72203b5d913a
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the beverage can with printed label, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Pick the cylindrical white glossy can, set it in the basket made of woven wood, and lift the basket made of woven wood upward.",
+    "Lift the medium metal can, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Pick up the can with gold top lid using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Grab the can with gold top lid, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Grab the can with sealed gold top, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.",
+    "Use the left arm to grab the can with gold top lid, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to take the small white can with branding, drop it in the basket with handle, and lift the basket with handle.",
+    "Grab the red-orange text on white can, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Pick the cylindrical white glossy can using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Lift the cylindrical white glossy can, place it inside the brown basket, and elevate the brown basket.",
+    "Pick the red-orange text on white can, set it in the basket for holding items, then lift the basket for holding items.",
+    "Grab the smooth white can with accents, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Pick the beverage can with printed label with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Pick up the red-orange text on white can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Pick up the smooth white can with accents with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Hold the beverage can with printed label using the left arm, place it in the basket with handle, and lift the basket with handle.",
+    "Place the can with rounded cylindrical shape in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Place the smooth white can with accents inside the woven basket, then lift the woven basket.",
+    "Lift the small white can with branding, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Grab and drop the can with rounded cylindrical shape in the basket with loop handle, lift the basket with loop handle.",
+    "Pick the medium metal can with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Place the medium metal can in the woven basket and then lift the woven basket.",
+    "Take the can with red-orange text with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Lift the small white can with branding with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Use the same arm to grab the small white can with branding, place in the light brown oval basket, and then lift the light brown oval basket.",
+    "Pick up the small white can with branding, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Grab the beverage can with printed label, drop it into the woven basket, and raise the woven basket with the other arm.",
+    "Use the left arm to grab the medium metal can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the light brown oval basket, and lift the light brown oval basket.",
+    "Take the beverage can with printed label, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Take the beverage can with printed label, set it into the basket with handle, and raise the basket with handle.",
+    "Lift the can with gold top lid, set it in the brown basket, and elevate the brown basket.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the woven basket and lift the woven basket.",
+    "Pick the cylindrical white glossy can with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Pick up the red-orange text on white can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Drop the can with sealed gold top into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Lift the smooth white can with accents, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Grab the can with red-orange text with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to grab the white can with 3D RADY label and place in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Take the cylindrical white glossy can in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Grab the white can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Grab the white can with 3D RADY label, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Pick up the can with gold top lid, put it into the woven basket, and lift the woven basket.",
+    "Take the red-orange text on white can and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab the small white can with branding, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Lift the can with sealed gold top, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Pick up the can with sealed gold top, set it inside the basket with handle, then lift the basket with handle.",
+    "Use the left arm for the white can, place the white can in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm to grab the red-orange text on white can, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.",
+    "Pick the smooth white can with accents, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Lift the can with sealed gold top, drop it into the basket with handle, then carry the basket with handle.",
+    "Pick up the medium metal can using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Grab the white can with 3D RADY label, put it in the basket with handle, then raise the basket with handle.",
+    "Grab the can with gold top lid, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Use the left arm to grab the can with red-orange text, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to take the medium metal can, drop it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the can with red-orange text, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Pick the red-orange text on white can using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Lift the can with gold top lid, place it inside the woven basket, and elevate the woven basket.",
+    "Pick the beverage can with printed label, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab the white can, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Pick the white can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Pick up the small white can with branding, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick up the red-orange text on white can with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Hold the small white can with branding using the left arm, place it in the woven basket, and lift the woven basket.",
+    "Place the white can with 3D RADY label in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Place the beverage can with printed label inside the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the smooth white can with accents, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Grab and drop the can with gold top lid in the woven basket, lift the woven basket.",
+    "Pick the white can with the left arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Place the beverage can with printed label in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Take the red-orange text on white can with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.",
+    "Lift the medium metal can with the left arm, set it in the basket for holding items, and lift with another arm.",
+    "Use the same arm to grab the can with red-orange text, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Pick up the small white can with branding, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the white can with 3D RADY label, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Use the left arm to grab the medium metal can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the brown basket, and lift the brown basket.",
+    "Take the can with red-orange text, place it into the basket with handle, then lift the basket with handle.",
+    "Use the left arm to pick the red-orange text on white can, place it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Take the white can, set it into the woven basket, and raise the woven basket.",
+    "Lift the white can, set it in the basket with handle, and elevate the basket with handle.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the woven basket and lift the woven basket.",
+    "Pick the white can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Pick up the can with red-orange text, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Drop the small white can with branding into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.",
+    "Lift the cylindrical white glossy can, place it in the brown basket, pick up the brown basket afterward.",
+    "Grab the can with sealed gold top with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Use the left arm to grab the small white can with branding and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Take the cylindrical white glossy can in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Grab the red-orange text on white can, place it in the basket with handle, and then lift the basket with handle.",
+    "Grab the white can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Pick up the cylindrical white glossy can, put it into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Take the can with gold top lid and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab the smooth white can with accents, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Lift the can with sealed gold top, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.",
+    "Pick up the can with red-orange text, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the brown basket, and lift the brown basket."
+  ],
+  "unseen": [
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode27.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..55414d2bf6055fbe71066fae85592003a3c0c776
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the can with gold top lid, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Use the left arm to grab the beverage can with printed label and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Pick up the medium metal can using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Place the can with gold top lid inside the basket with handle, then lift the basket with handle.",
+    "Grab and drop the white can with 3D RADY label in the light brown oval basket, lift the light brown oval basket.",
+    "Pick the beverage can with printed label with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the brown basket and lift the brown basket.",
+    "Use the left arm for the medium metal can, place the medium metal can in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to grab the beverage can with printed label, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Pick up the can with red-orange text, set it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Lift the can with rounded cylindrical shape, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Grab the white can with 3D RADY label, drop it into the basket with handle, and raise the basket with handle.",
+    "Place the beverage can with printed label in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Lift the white can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.",
+    "Lift the can with sealed gold top, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Pick up the red-orange text on white can, put it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Hold the can with sealed gold top using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Lift the smooth white can with accents, place it in the basket for carrying things, and raise the basket for carrying things.",
+    "Take the can with gold top lid and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Take the white can with 3D RADY label with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Pick the medium metal can using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Grab the white can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Grab the white can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.",
+    "Drop the medium metal can into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Lift the white can with 3D RADY label, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Place the can with rounded cylindrical shape in the light brown oval basket and then lift the light brown oval basket.",
+    "Lift the can with red-orange text, place it inside the brown basket, and elevate the brown basket.",
+    "Use the left arm to pick the small white can with branding, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the white can, place it in the brown basket, and lift the brown basket upwards.",
+    "Take the can with gold top lid in the left arm, place it into the brown basket, another arm lifts the brown basket.",
+    "Grab the small white can with branding, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Pick the can with rounded cylindrical shape, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.",
+    "Pick the red-orange text on white can, set it in the woven basket, then lift the woven basket.",
+    "Pick up the white can, place it into the basket with handle, then lift the basket with handle.",
+    "Take the beverage can with printed label, set it into the woven basket, and raise the woven basket.",
+    "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the basket for carrying things, and lift the basket for carrying things.",
+    "Take the white can with 3D RADY label, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the small white can with branding, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Use the same arm to grab the small white can with branding, place in the basket for holding items, and then lift the basket for holding items.",
+    "Pick up the can with gold top lid with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.",
+    "Pick the smooth white can with accents with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Pick up the beverage can with printed label, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to take the can with sealed gold top, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to grab the small white can with branding, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Grab the can with red-orange text, drop it into the light brown oval basket, then use another arm for the light brown oval basket.",
+    "Pick the can with red-orange text with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Grab the can with gold top lid, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Lift the medium metal can with the left arm, set it in the brown basket, and lift with another arm.",
+    "Use the left arm to grab the beverage can with printed label, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the can with rounded cylindrical shape, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick up the smooth white can with accents using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.",
+    "Place the white can inside the basket with handle, then lift the basket with handle.",
+    "Grab and drop the can with rounded cylindrical shape in the brown basket, lift the brown basket.",
+    "Pick the can with red-orange text with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the basket for carrying things and lift the basket for carrying things.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm to grab the beverage can with printed label, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.",
+    "Pick up the can with gold top lid, set it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the beverage can with printed label, set it in the basket for carrying things, and elevate the basket for carrying things.",
+    "Grab the can with rounded cylindrical shape, drop it into the brown basket, and raise the brown basket.",
+    "Place the cylindrical white glossy can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.",
+    "Grab the can with red-orange text with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Lift the can with rounded cylindrical shape, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Lift the medium metal can, drop it into the basket for holding items, then carry the basket for holding items.",
+    "Pick up the small white can with branding, put it in the basket with handle, and lift the basket with handle.",
+    "Hold the medium metal can using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Lift the can with sealed gold top, place it in the basket for carrying things, and raise the basket for carrying things.",
+    "Take the can with rounded cylindrical shape and put it in the basket for holding items, then lift the basket for holding items.",
+    "Take the small white can with branding with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Pick the can with gold top lid using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Grab the can with gold top lid, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Grab the red-orange text on white can, drop it into the woven basket, and raise the woven basket with the other arm.",
+    "Drop the beverage can with printed label into the basket with handle using the left arm, then lift the basket with handle with another arm.",
+    "Lift the medium metal can, put it in the basket with handle, and carry the basket with handle afterward.",
+    "Place the can with gold top lid in the brown basket and then lift the brown basket.",
+    "Lift the beverage can with printed label, place it inside the brown basket, and elevate the brown basket.",
+    "Use the left arm to pick the red-orange text on white can, place it inside the brown basket, then lift the brown basket.",
+    "Grab the can with sealed gold top, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Take the can with rounded cylindrical shape in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Grab the red-orange text on white can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Pick the beverage can with printed label, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Pick the can with sealed gold top, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the medium metal can, place it into the woven basket, then lift the woven basket.",
+    "Take the can with red-orange text, set it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the woven basket, and lift the woven basket.",
+    "Take the smooth white can with accents, place it into the brown basket, then lift the brown basket.",
+    "Pick up the small white can with branding, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Use the same arm to grab the white can with 3D RADY label, place in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Pick up the beverage can with printed label with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.",
+    "Pick the cylindrical white glossy can with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Pick up the small white can with branding, put it into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to take the small white can with branding, drop it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to grab the can with gold top lid, put it into the woven basket, and lift the woven basket with another arm.",
+    "Grab the can with sealed gold top, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.",
+    "Pick the can with gold top lid with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Grab the white can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Lift the medium metal can with the left arm, set it in the basket for carrying things, and lift with another arm.",
+    "Use the left arm to grab the smooth white can with accents, place it in the basket with handle, and lift the basket with handle."
+  ],
+  "unseen": [
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode28.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3bf6bbf242c9bca548ed7f1c7b63784f877749d
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the cylindrical white glossy can with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Pick the can with red-orange text with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Take the can with gold top lid in the left arm, place it into the basket for holding items, another arm lifts the basket for holding items.",
+    "Pick up the white can with 3D RADY label, put it into the basket with loop handle, and lift the basket with loop handle.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the oval-shaped basket with woven body and lift the oval-shaped basket with woven body.",
+    "Hold the red-orange text on white can using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the white can with 3D RADY label, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Lift the smooth white can with accents, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Grab the medium metal can with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Use the left arm to grab the beverage can with printed label, put it into the woven basket, and lift the woven basket with another arm.",
+    "Pick the can with red-orange text with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Use the same arm to grab the can with sealed gold top, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Pick the beverage can with printed label, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Lift the white can, drop it into the woven basket, then carry the woven basket.",
+    "Lift the white can with 3D RADY label, put it in the light brown oval basket, and carry the light brown oval basket afterward.",
+    "Pick the small white can with branding, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Grab the smooth white can with accents, put it in the brown basket, then raise the brown basket.",
+    "Place the white can with 3D RADY label in the brown basket and then lift the brown basket.",
+    "Use the left arm to hold the smooth white can with accents, drop the smooth white can with accents into the light brown oval basket, and lift the light brown oval basket.",
+    "Place the small white can with branding inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick the cylindrical white glossy can with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Grab and drop the white can with 3D RADY label in the brown basket, lift the brown basket.",
+    "Lift the red-orange text on white can, set it in the basket with loop handle, and elevate the basket with loop handle.",
+    "Use the left arm to grab the can with gold top lid and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Drop the can with sealed gold top into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.",
+    "Pick up the can with rounded cylindrical shape, put it in the woven basket, and lift the woven basket.",
+    "Lift the can with rounded cylindrical shape, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Take the can with gold top lid with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Use the left arm for the white can, place the white can in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick the medium metal can using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Take the small white can with branding, set it into the brown basket, and raise the brown basket.",
+    "Pick up the beverage can with printed label, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the red-orange text on white can, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the beverage can with printed label, place it inside the basket with handle, and elevate the basket with handle.",
+    "Grab the red-orange text on white can, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the beverage can with printed label, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Pick up the small white can with branding, set it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to pick the can with red-orange text, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the white can, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Use the left arm to grab the medium metal can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the can with gold top lid, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Pick up the white can using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Pick up the can with rounded cylindrical shape, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Use the left arm to grab the white can, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Use the left arm to take the beverage can with printed label, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Place the can with red-orange text in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Grab the can with red-orange text, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.",
+    "Take the can with sealed gold top and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the small white can with branding with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.",
+    "Grab the small white can with branding, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Pick up the beverage can with printed label with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Pick the white can with 3D RADY label with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Take the smooth white can with accents in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.",
+    "Pick up the red-orange text on white can, put it into the brown basket, and lift the brown basket.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the light brown oval basket and lift the light brown oval basket.",
+    "Hold the cylindrical white glossy can using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the can with red-orange text, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Lift the can with rounded cylindrical shape, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Grab the can with sealed gold top with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Use the left arm to grab the smooth white can with accents, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Pick the can with sealed gold top with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick the medium metal can, set it in the woven basket, and lift the woven basket upward.",
+    "Lift the can with sealed gold top, drop it into the basket with loop handle, then carry the basket with loop handle.",
+    "Lift the smooth white can with accents, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Pick the smooth white can with accents, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the small white can with branding, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Place the red-orange text on white can in the woven basket and then lift the woven basket.",
+    "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Place the can with sealed gold top inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick the white can with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.",
+    "Grab and drop the beverage can with printed label in the light brown oval basket, lift the light brown oval basket.",
+    "Lift the white can with 3D RADY label, set it in the basket with loop handle, and elevate the basket with loop handle.",
+    "Use the left arm to grab the red-orange text on white can and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Drop the white can with 3D RADY label into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Pick up the can with gold top lid, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Lift the medium metal can, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Take the red-orange text on white can with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick the can with gold top lid using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Take the cylindrical white glossy can, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick up the small white can with branding, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Take the can with red-orange text, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Lift the small white can with branding, place it inside the basket with handle, and elevate the basket with handle.",
+    "Grab the white can with 3D RADY label, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Grab the red-orange text on white can, set it into the brown basket, then raise the brown basket.",
+    "Pick up the can with gold top lid, set it inside the brown basket, then lift the brown basket.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the small white can with branding, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Use the left arm to grab the small white can with branding, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the beverage can with printed label, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.",
+    "Pick up the can with red-orange text using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Pick up the smooth white can with accents, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Use the left arm to take the white can with 3D RADY label, drop it in the basket with handle, and lift the basket with handle.",
+    "Place the beverage can with printed label in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Grab the can with sealed gold top, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Take the can with red-orange text and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the medium metal can with the left arm, set it in the basket for carrying things, and lift with another arm.",
+    "Grab the beverage can with printed label, drop it into the light brown oval basket, then use another arm for the light brown oval basket."
+  ],
+  "unseen": [
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode29.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed4a847b4306f5f36e500756e18eac4bb25618c8
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the can with sealed gold top with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Take the can with sealed gold top and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the cylindrical white glossy can, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Take the small white can with branding in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Place the small white can with branding in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Lift the can with gold top lid, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Lift the beverage can with printed label, place it inside the light brown oval basket, and elevate the light brown oval basket.",
+    "Use the left arm to grab the medium metal can, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.",
+    "Place the beverage can with printed label in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Lift the smooth white can with accents, set it in the woven basket, and elevate the woven basket.",
+    "Pick the can with gold top lid with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Lift the cylindrical white glossy can with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Pick up the white can with 3D RADY label, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.",
+    "Grab the can with sealed gold top, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Use the left arm for the medium metal can, place the medium metal can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Lift the medium metal can, drop it into the basket with handle, then carry the basket with handle.",
+    "Grab the smooth white can with accents, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Pick up the smooth white can with accents, put it into the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the can with red-orange text, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Grab the small white can with branding, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Pick the can with sealed gold top with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Drop the white can with 3D RADY label into the basket with handle using the left arm, then lift the basket with handle with another arm.",
+    "Grab the smooth white can with accents, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Place the can with rounded cylindrical shape inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the small white can with branding, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Pick the small white can with branding, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Use the left arm to grab the smooth white can with accents and place in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the brown basket, and then lift the brown basket.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.",
+    "Take the small white can with branding, set it into the basket with handle, and raise the basket with handle.",
+    "Pick up the small white can with branding using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Lift the medium metal can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.",
+    "Pick up the can with rounded cylindrical shape, place it into the brown basket, then lift the brown basket.",
+    "Grab the red-orange text on white can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Lift the smooth white can with accents, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Pick up the cylindrical white glossy can, set it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Hold the can with sealed gold top using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick up the can with sealed gold top, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the white can with 3D RADY label, place it in the brown basket, and lift the brown basket.",
+    "Grab the medium metal can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Grab and drop the can with rounded cylindrical shape in the basket made of woven wood, lift the basket made of woven wood.",
+    "Use the left arm to take the small white can with branding, drop it in the basket with loop handle, and lift the basket with loop handle.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the cylindrical white glossy can, set it in the woven basket, then lift the woven basket.",
+    "Take the medium metal can with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Pick the cylindrical white glossy can with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Take the beverage can with printed label and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Take the medium metal can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Take the beverage can with printed label in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Place the white can with 3D RADY label in the light brown oval basket and then use another arm to lift the light brown oval basket.",
+    "Pick the can with red-orange text using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Lift the medium metal can, place it in the basket for holding items, and raise the basket for holding items.",
+    "Lift the smooth white can with accents, place it inside the basket with loop handle, and elevate the basket with loop handle.",
+    "Use the left arm to grab the smooth white can with accents, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.",
+    "Place the red-orange text on white can in the basket with loop handle and then lift the basket with loop handle.",
+    "Lift the can with gold top lid, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Pick the medium metal can with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Lift the small white can with branding with the left arm, set it in the basket for holding items, and lift with another arm.",
+    "Pick up the can with gold top lid, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Pick up the white can with 3D RADY label with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the brown basket with woven ridges and lift the brown basket with woven ridges.",
+    "Grab the small white can with branding, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the white can with 3D RADY label, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Grab the medium metal can, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Pick up the small white can with branding, put it into the basket with loop handle, and lift the basket with loop handle.",
+    "Grab the red-orange text on white can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Grab the can with gold top lid, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Pick the can with red-orange text with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Drop the can with sealed gold top into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.",
+    "Grab the beverage can with printed label, put it in the woven basket, then raise the woven basket.",
+    "Place the cylindrical white glossy can inside the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the can with sealed gold top, place it in the woven basket, and raise the woven basket using the other arm.",
+    "Pick the can with sealed gold top, set it in the light brown oval basket, and lift the light brown oval basket upward.",
+    "Use the left arm to grab the medium metal can and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Use the same arm to grab the red-orange text on white can, place in the light brown oval basket, and then lift the light brown oval basket.",
+    "Use the left arm to grab the white can, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.",
+    "Take the medium metal can, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick up the can with rounded cylindrical shape using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Lift the smooth white can with accents, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.",
+    "Pick up the can with gold top lid, place it into the basket for holding items, then lift the basket for holding items.",
+    "Grab the white can with 3D RADY label, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Lift the cylindrical white glossy can, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Pick up the white can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Hold the medium metal can using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Pick up the can with red-orange text, put it in the basket with handle, and lift the basket with handle.",
+    "Use the left arm to grab the small white can with branding, place it in the basket for holding items, and lift the basket for holding items.",
+    "Grab the white can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Grab and drop the can with sealed gold top in the basket with loop handle, lift the basket with loop handle.",
+    "Use the left arm to take the beverage can with printed label, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the woven basket, and lift the woven basket.",
+    "Pick the can with rounded cylindrical shape, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Take the can with gold top lid with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm."
+  ],
+  "unseen": [
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode3.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..42a98439dcab95841833efa26b8c75cdf80ad50e
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the can with gold top lid, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Take the smooth white can with accents with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Use the left arm to take the can with gold top lid, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Lift the can with rounded cylindrical shape, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Pick the white can, set it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab and drop the smooth white can with accents in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.",
+    "Hold the cylindrical white glossy can using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the white can, put it in the brown basket, then raise the brown basket.",
+    "Grab the can with gold top lid, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Pick the beverage can with printed label with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.",
+    "Grab the white can, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Lift the medium metal can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Pick up the can with sealed gold top with the left arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Take the can with sealed gold top and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the light brown oval basket and lift the light brown oval basket.",
+    "Place the can with gold top lid in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Use the left arm to pick the can with gold top lid, place it inside the basket with handle, then lift the basket with handle.",
+    "Grab the cylindrical white glossy can with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Grab the beverage can with printed label, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.",
+    "Drop the can with sealed gold top into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the can with red-orange text, put it into the brown basket, and lift the brown basket.",
+    "Use the left arm to grab the can with sealed gold top, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Lift the cylindrical white glossy can, place it in the light brown oval basket, and raise the light brown oval basket.",
+    "Pick up the small white can with branding, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Take the medium metal can in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.",
+    "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the same arm to grab the white can, place in the basket with handle, and then lift the basket with handle.",
+    "Use the left arm to grab the can with sealed gold top, put it into the basket for carrying things, and lift the basket for carrying things with another arm.",
+    "Place the red-orange text on white can in the woven basket and then lift the woven basket.",
+    "Grab the red-orange text on white can, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick up the white can with 3D RADY label, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the cylindrical white glossy can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Lift the white can, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Pick up the can with sealed gold top, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using the other arm.",
+    "Pick up the white can with 3D RADY label using the left arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Lift the can with gold top lid with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.",
+    "Pick the can with gold top lid using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Lift the white can with 3D RADY label, put it in the light brown oval basket, and carry the light brown oval basket afterward.",
+    "Lift the beverage can with printed label, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.",
+    "Grab the red-orange text on white can, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Pick the small white can with branding with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Pick up the white can with 3D RADY label, set it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Pick the smooth white can with accents with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the can with sealed gold top, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Place the can with red-orange text inside the basket for holding items, then lift the basket for holding items.",
+    "Take the small white can with branding, set it into the basket with handle, and raise the basket with handle.",
+    "Pick the can with sealed gold top, set it in the light brown oval basket, and lift the light brown oval basket upward.",
+    "Take the small white can with branding, place it into the basket with handle, then lift the basket with handle.",
+    "Grab the small white can with branding, set it into the basket with loop handle, then raise the basket with loop handle.",
+    "Take the can with sealed gold top with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Use the left arm to take the medium metal can, drop it in the brown basket, and lift the brown basket.",
+    "Lift the white can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Pick the can with gold top lid, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Grab and drop the can with sealed gold top in the wooden basket with curved handle, lift the wooden basket with curved handle.",
+    "Hold the smooth white can with accents using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Grab the white can with 3D RADY label, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Grab the cylindrical white glossy can, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Pick the white can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Grab the smooth white can with accents, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.",
+    "Lift the white can with 3D RADY label, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Pick up the red-orange text on white can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Take the medium metal can and put it in the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the basket with handle and lift the basket with handle.",
+    "Place the small white can with branding in the basket for carrying things and then use another arm to lift the basket for carrying things.",
+    "Use the left arm to pick the medium metal can, place it inside the basket with handle, then lift the basket with handle.",
+    "Grab the cylindrical white glossy can with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab the white can, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.",
+    "Drop the cylindrical white glossy can into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the basket for holding items, and lift the basket for holding items.",
+    "Pick up the can with rounded cylindrical shape, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the white can with 3D RADY label, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the smooth white can with accents, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, place it in the woven basket, and then lift the woven basket.",
+    "Take the small white can with branding in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the light brown oval basket, and lift the light brown oval basket.",
+    "Use the same arm to grab the beverage can with printed label, place in the brown basket, and then lift the brown basket.",
+    "Use the left arm to grab the can with gold top lid, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.",
+    "Place the white can with 3D RADY label in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Grab the white can, drop it into the basket with handle, and raise the basket with handle.",
+    "Pick up the smooth white can with accents, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with sealed gold top and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Lift the red-orange text on white can, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Pick up the can with gold top lid, place it into the basket with handle, then lift the basket with handle.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the basket for holding items, and lift with another arm.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Lift the can with rounded cylindrical shape, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Lift the white can with 3D RADY label, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Grab the smooth white can with accents, place it in the woven basket, and lift the woven basket upwards.",
+    "Pick the beverage can with printed label with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Pick up the can with rounded cylindrical shape, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick the smooth white can with accents with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Grab the can with rounded cylindrical shape, place it in the basket with handle, and then lift the basket with handle.",
+    "Place the can with gold top lid inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Take the white can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Pick the cylindrical white glossy can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Take the white can with 3D RADY label, place it into the basket made of woven wood, then lift the basket made of woven wood."
+  ],
+  "unseen": [
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode30.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7cc774241d011d7e3aa48594a56db5c79ce3fa
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick up the beverage can with printed label, put it into the basket with loop handle, and lift the basket with loop handle.",
+    "Grab the can with red-orange text, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Pick the white can, set it in the basket with handle, then lift the basket with handle.",
+    "Use the left arm to grab the beverage can with printed label and place in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Grab the can with red-orange text, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Pick up the can with rounded cylindrical shape, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Lift the small white can with branding, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Grab the smooth white can with accents, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Take the beverage can with printed label with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Pick up the cylindrical white glossy can, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick up the white can, set it inside the woven basket, then lift the woven basket.",
+    "Place the can with sealed gold top in the basket for holding items and then use another arm to lift the basket for holding items.",
+    "Grab and drop the smooth white can with accents in the basket made of woven wood, lift the basket made of woven wood.",
+    "Lift the can with gold top lid, place it in the basket for holding items, and raise the basket for holding items.",
+    "Lift the small white can with branding with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Lift the can with gold top lid, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Pick the small white can with branding with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Grab the cylindrical white glossy can with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Take the white can with 3D RADY label in the left arm, place it into the basket with handle, another arm lifts the basket with handle.",
+    "Take the can with sealed gold top, set it into the basket for holding items, and raise the basket for holding items.",
+    "Place the cylindrical white glossy can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Take the white can with 3D RADY label, place it into the basket with handle, then lift the basket with handle.",
+    "Grab the smooth white can with accents, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Grab the small white can with branding, put it in the brown basket, then raise the brown basket.",
+    "Pick the cylindrical white glossy can, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Take the can with sealed gold top and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Pick the can with gold top lid with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick the small white can with branding with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Pick the medium metal can using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the woven basket, and lift the woven basket.",
+    "Lift the smooth white can with accents, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Grab the small white can with branding, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Use the left arm to grab the can with gold top lid, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Place the white can in the woven basket and then lift the woven basket.",
+    "Pick up the can with rounded cylindrical shape using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Use the same arm to grab the small white can with branding, place in the brown basket, and then lift the brown basket.",
+    "Use the left arm to hold the medium metal can, drop the medium metal can into the brown basket, and lift the brown basket.",
+    "Hold the smooth white can with accents using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the basket for holding items and lift the basket for holding items.",
+    "Use the left arm to grab the smooth white can with accents, put it into the light brown oval basket, and lift the light brown oval basket with another arm.",
+    "Use the left arm to pick the white can, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with sealed gold top, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.",
+    "Grab the cylindrical white glossy can, drop it into the woven basket, then use another arm for the woven basket.",
+    "Grab the small white can with branding, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.",
+    "Lift the smooth white can with accents, drop it into the woven basket, then carry the woven basket.",
+    "Lift the smooth white can with accents, set it in the basket with handle, and elevate the basket with handle.",
+    "Pick up the can with gold top lid, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick up the cylindrical white glossy can with the left arm, place into the woven basket, the other arm raises the woven basket.",
+    "Drop the cylindrical white glossy can into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Use the left arm for the medium metal can, place the medium metal can in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick up the white can, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the smooth white can with accents, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Pick the can with red-orange text, set it in the basket for holding items, then lift the basket for holding items.",
+    "Use the left arm to grab the can with red-orange text and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Grab the can with red-orange text, place it in the woven basket, and then lift the woven basket.",
+    "Pick up the white can with 3D RADY label, put it in the basket with handle, and lift the basket with handle.",
+    "Lift the can with red-orange text, put it in the basket for carrying things, and carry the basket for carrying things afterward.",
+    "Grab the can with red-orange text, drop it into the brown basket, and raise the brown basket.",
+    "Take the can with rounded cylindrical shape with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Pick up the can with sealed gold top, place it into the basket for holding items, then lift the basket for holding items.",
+    "Pick up the cylindrical white glossy can, set it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Place the can with sealed gold top in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Grab and drop the smooth white can with accents in the brown basket with woven ridges, lift the brown basket with woven ridges.",
+    "Lift the white can with 3D RADY label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Lift the beverage can with printed label with the left arm, set it in the woven basket, and lift with another arm.",
+    "Lift the medium metal can, place it in the woven basket, pick up the woven basket afterward.",
+    "Pick the can with sealed gold top with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Grab the medium metal can with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Take the white can in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.",
+    "Take the white can, set it into the woven basket, and raise the woven basket.",
+    "Place the medium metal can inside the light brown oval basket, then lift the light brown oval basket.",
+    "Take the can with red-orange text, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the smooth white can with accents, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.",
+    "Grab the can with gold top lid, put it in the basket with handle, then raise the basket with handle.",
+    "Pick the can with gold top lid, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Take the beverage can with printed label and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick the can with red-orange text with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick the can with red-orange text with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Pick the medium metal can using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Use the left arm to take the smooth white can with accents, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Lift the can with sealed gold top, place it inside the basket with loop handle, and elevate the basket with loop handle.",
+    "Grab the medium metal can, set it into the basket with handle, then raise the basket with handle.",
+    "Use the left arm to grab the can with red-orange text, place it in the woven basket, and lift the woven basket.",
+    "Place the cylindrical white glossy can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Pick up the medium metal can using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Use the same arm to grab the red-orange text on white can, place in the brown basket, and then lift the brown basket.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Hold the can with rounded cylindrical shape using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the woven basket and lift the woven basket.",
+    "Use the left arm to grab the small white can with branding, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the brown basket, and lift the brown basket using the other arm.",
+    "Grab the can with rounded cylindrical shape, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Grab the white can, drop it into the basket with handle, and raise the basket with handle with the other arm.",
+    "Lift the small white can with branding, drop it into the basket with handle, then carry the basket with handle.",
+    "Lift the can with red-orange text, set it in the basket for carrying things, and elevate the basket for carrying things.",
+    "Pick up the can with rounded cylindrical shape, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Pick up the white can with 3D RADY label with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Drop the cylindrical white glossy can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode31.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..53248ba06a39023ee9f1ca759692a682f6430742
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red-orange text on white can using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Drop the can with red-orange text into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Pick the can with sealed gold top, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.",
+    "Pick the white can with 3D RADY label with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Take the white can in the left arm, place it into the basket with handle, another arm lifts the basket with handle.",
+    "Grab the can with gold top lid, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Lift the cylindrical white glossy can, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Pick up the can with gold top lid using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Use the left arm to grab the white can, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.",
+    "Pick up the beverage can with printed label, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the medium metal can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Pick the white can with 3D RADY label with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the medium metal can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Grab the can with gold top lid, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Grab the white can, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Use the left arm for the white can with 3D RADY label, place the white can with 3D RADY label in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Lift the medium metal can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.",
+    "Grab the small white can with branding, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Take the can with rounded cylindrical shape, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Lift the medium metal can, place it inside the basket with handle, and elevate the basket with handle.",
+    "Use the same arm to grab the can with red-orange text, place in the woven basket, and then lift the woven basket.",
+    "Lift the beverage can with printed label with the left arm, set it in the basket with handle, and lift with another arm.",
+    "Take the can with rounded cylindrical shape with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Use the left arm to hold the white can, drop the white can into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to pick the medium metal can, place it inside the woven basket, then lift the woven basket.",
+    "Grab the white can, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Use the left arm to grab the can with rounded cylindrical shape, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the white can and place in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Pick the red-orange text on white can with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Place the can with gold top lid in the basket for carrying things and then use another arm to lift the basket for carrying things.",
+    "Pick up the can with sealed gold top, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Grab and drop the can with red-orange text in the light brown oval basket, lift the light brown oval basket.",
+    "Pick up the white can with 3D RADY label, set it inside the woven basket, then lift the woven basket.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the woven basket and lift the woven basket.",
+    "Grab the small white can with branding with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Lift the small white can with branding, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Lift the smooth white can with accents, set it in the woven basket, and elevate the woven basket.",
+    "Grab the white can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Place the medium metal can inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the can with rounded cylindrical shape, place it into the woven basket, then lift the woven basket.",
+    "Place the can with rounded cylindrical shape in the basket for carrying things and then lift the basket for carrying things.",
+    "Hold the white can with 3D RADY label using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Lift the cylindrical white glossy can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Pick the white can, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Use the left arm to take the red-orange text on white can, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Take the medium metal can and put it in the basket with handle, then lift the basket with handle.",
+    "Pick up the beverage can with printed label with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Take the can with sealed gold top, set it into the brown basket, and raise the brown basket.",
+    "Grab the white can with 3D RADY label, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Pick up the can with red-orange text, put it into the basket for holding items, and lift the basket for holding items.",
+    "Pick the cylindrical white glossy can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Drop the can with red-orange text into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Pick the can with gold top lid, set it in the basket with handle, and lift the basket with handle upward.",
+    "Pick the can with gold top lid with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Take the white can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Grab the white can, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Lift the red-orange text on white can, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Pick up the small white can with branding using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Use the left arm to grab the can with rounded cylindrical shape, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.",
+    "Pick up the small white can with branding, put it in the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to grab the white can with 3D RADY label, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Pick the cylindrical white glossy can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Grab the can with sealed gold top, place it in the brown basket, and then lift the brown basket.",
+    "Grab the can with sealed gold top, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Grab the white can with 3D RADY label, put it in the brown basket, then raise the brown basket.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Lift the small white can with branding, drop it into the basket with loop handle, then carry the basket with loop handle.",
+    "Grab the small white can with branding, drop it into the brown basket, then use another arm for the brown basket.",
+    "Take the cylindrical white glossy can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the smooth white can with accents, place it inside the brown basket, and elevate the brown basket.",
+    "Use the same arm to grab the medium metal can, place in the brown basket, and then lift the brown basket.",
+    "Lift the smooth white can with accents with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Take the smooth white can with accents with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the can with gold top lid, set it into the woven basket, then raise the woven basket.",
+    "Use the left arm to grab the can with sealed gold top, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick the white can with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Place the smooth white can with accents in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Pick up the can with rounded cylindrical shape, place it in the brown basket, and then lift the brown basket.",
+    "Grab and drop the can with sealed gold top in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Pick up the can with gold top lid, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the basket for holding items and lift the basket for holding items.",
+    "Grab the can with sealed gold top with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Lift the cylindrical white glossy can, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Lift the can with rounded cylindrical shape, set it in the basket for carrying things, and elevate the basket for carrying things.",
+    "Grab the small white can with branding, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Place the red-orange text on white can inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick up the can with sealed gold top, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Place the white can with 3D RADY label in the woven basket and then lift the woven basket.",
+    "Hold the small white can with branding using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Lift the can with red-orange text, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick the can with rounded cylindrical shape, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Use the left arm to take the can with rounded cylindrical shape, drop it in the basket with loop handle, and lift the basket with loop handle.",
+    "Take the can with gold top lid and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick up the red-orange text on white can with the left arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Take the can with red-orange text, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Grab the red-orange text on white can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Pick up the can with red-orange text, put it into the basket with handle, and lift the basket with handle."
+  ],
+  "unseen": [
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode32.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..10a1867f83eb4f5c8a5a0d34d802a1b950826952
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the white can with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the beverage can with printed label with the left arm, place into the woven basket, the other arm raises the woven basket.",
+    "Lift the can with rounded cylindrical shape, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Place the can with rounded cylindrical shape in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Lift the white can, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.",
+    "Take the small white can with branding and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm to take the can with rounded cylindrical shape, drop it in the woven basket, and lift the woven basket.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Pick the cylindrical white glossy can, set it in the woven basket, then lift the woven basket.",
+    "Pick the white can, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the brown basket, and lift with another arm.",
+    "Grab the can with red-orange text, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Grab the can with red-orange text, set it into the basket with loop handle, then raise the basket with loop handle.",
+    "Grab the can with sealed gold top, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.",
+    "Use the left arm to grab the can with red-orange text, place it into the brown basket, and lift the brown basket using the other arm.",
+    "Grab the medium metal can with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the woven basket, and lift the woven basket with another arm.",
+    "Pick up the medium metal can using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Grab the can with sealed gold top, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Lift the small white can with branding, place it inside the brown basket, and elevate the brown basket.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the basket for carrying things and lift the basket for carrying things.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Lift the smooth white can with accents, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Use the left arm to grab the can with sealed gold top, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the white can with 3D RADY label, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Place the cylindrical white glossy can inside the woven basket, then lift the woven basket.",
+    "Grab the can with gold top lid, drop it into the woven basket, then use another arm for the woven basket.",
+    "Lift the small white can with branding, set it in the basket with handle, and elevate the basket with handle.",
+    "Pick up the medium metal can, put it into the light brown oval basket, and lift the light brown oval basket.",
+    "Lift the white can, drop it into the basket with handle, then carry the basket with handle.",
+    "Pick up the medium metal can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the can with red-orange text, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Pick the white can using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Take the can with gold top lid in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Drop the medium metal can into the basket with handle using the left arm, then lift the basket with handle with another arm.",
+    "Place the red-orange text on white can in the brown basket and then use another arm to lift the brown basket.",
+    "Grab the can with sealed gold top, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Use the same arm to grab the smooth white can with accents, place in the basket for holding items, and then lift the basket for holding items.",
+    "Grab the white can with 3D RADY label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Take the small white can with branding, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Grab and drop the can with sealed gold top in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with red-orange text and place in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Pick the beverage can with printed label with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Take the medium metal can, set it into the brown basket, and raise the brown basket.",
+    "Pick up the can with red-orange text, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Pick up the small white can with branding, put it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick the beverage can with printed label with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the brown basket, and lift the brown basket.",
+    "Hold the white can using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Take the can with sealed gold top with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the brown basket, and lift the brown basket.",
+    "Pick up the smooth white can with accents with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Lift the beverage can with printed label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Place the red-orange text on white can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Lift the smooth white can with accents, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Take the white can with 3D RADY label and put it in the basket for holding items, then lift the basket for holding items.",
+    "Use the left arm to take the smooth white can with accents, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Pick the small white can with branding with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Pick the can with rounded cylindrical shape, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Pick the smooth white can with accents, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the woven basket, and lift with another arm.",
+    "Grab the can with gold top lid, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Grab the white can with 3D RADY label, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Grab the can with sealed gold top, place it in the basket for carrying things, and lift the basket for carrying things upwards.",
+    "Use the left arm to grab the can with gold top lid, place it into the woven basket, and lift the woven basket using the other arm.",
+    "Grab the medium metal can with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Use the left arm to grab the beverage can with printed label, put it into the basket for carrying things, and lift the basket for carrying things with another arm.",
+    "Pick up the medium metal can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Grab the smooth white can with accents, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Lift the white can with 3D RADY label, place it inside the basket for carrying things, and elevate the basket for carrying things.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the woven basket and lift the woven basket.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the white can, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Use the left arm to grab the beverage can with printed label, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick up the medium metal can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Place the cylindrical white glossy can inside the basket for holding items, then lift the basket for holding items.",
+    "Grab the can with gold top lid, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Lift the red-orange text on white can, set it in the brown basket, and elevate the brown basket.",
+    "Pick up the beverage can with printed label, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Lift the can with rounded cylindrical shape, drop it into the basket with handle, then carry the basket with handle.",
+    "Pick up the white can with 3D RADY label, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the white can with 3D RADY label, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick the cylindrical white glossy can using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Take the smooth white can with accents in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.",
+    "Drop the white can into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Place the red-orange text on white can in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.",
+    "Grab the cylindrical white glossy can, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Use the same arm to grab the white can with 3D RADY label, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the medium metal can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Take the cylindrical white glossy can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Grab and drop the can with rounded cylindrical shape in the basket with handle, lift the basket with handle.",
+    "Use the left arm to grab the beverage can with printed label and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick the red-orange text on white can with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Take the can with red-orange text, set it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick up the red-orange text on white can, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Pick up the can with gold top lid, put it in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the red-orange text on white can with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Use the left arm for the red-orange text on white can, place the red-orange text on white can in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Hold the small white can with branding using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood."
+  ],
+  "unseen": [
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode33.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..906acedb16d2baa29468a232c2bd2b7c90f57bd6
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the can with rounded cylindrical shape into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.",
+    "Pick the can with sealed gold top, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Grab the white can, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Use the same arm to grab the smooth white can with accents, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Pick up the can with red-orange text using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Lift the smooth white can with accents with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Pick up the can with red-orange text, place it into the woven basket, then lift the woven basket.",
+    "Grab the can with red-orange text, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Lift the can with rounded cylindrical shape, drop it into the basket with handle, then carry the basket with handle.",
+    "Pick the can with gold top lid, set it in the basket with handle, and lift the basket with handle upward.",
+    "Grab the smooth white can with accents, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Grab the cylindrical white glossy can, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Use the left arm to grab the smooth white can with accents, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Lift the can with rounded cylindrical shape, set it in the brown basket, and elevate the brown basket.",
+    "Place the red-orange text on white can in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Take the small white can with branding and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to grab the white can, place it in the brown basket, and lift the brown basket.",
+    "Pick up the cylindrical white glossy can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Place the medium metal can in the light brown oval basket and then use another arm to lift the light brown oval basket.",
+    "Pick up the can with sealed gold top, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Take the cylindrical white glossy can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the basket for holding items, and lift the basket for holding items.",
+    "Place the can with red-orange text inside the basket for holding items, then lift the basket for holding items.",
+    "Pick the red-orange text on white can with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Use the left arm to take the white can, drop it in the brown basket, and lift the brown basket.",
+    "Take the can with sealed gold top in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.",
+    "Grab the medium metal can, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Lift the can with gold top lid, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Lift the white can, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the woven basket, then lift the woven basket.",
+    "Take the white can with 3D RADY label, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick up the can with sealed gold top with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Pick up the smooth white can with accents, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the white can with 3D RADY label, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Grab the medium metal can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.",
+    "Lift the can with gold top lid, put it in the woven basket, and carry the woven basket afterward.",
+    "Grab the can with red-orange text with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Lift the cylindrical white glossy can, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Hold the can with gold top lid using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Pick the cylindrical white glossy can using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Pick the cylindrical white glossy can with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Take the can with red-orange text with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Grab the smooth white can with accents, set it into the basket for carrying things, then raise the basket for carrying things.",
+    "Pick up the can with sealed gold top, put it in the brown basket, and lift the brown basket.",
+    "Grab and drop the red-orange text on white can in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Grab the can with gold top lid using the left arm, drop the can with gold top lid into the brown basket with woven ridges and lift the brown basket with woven ridges.",
+    "Grab the can with gold top lid, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.",
+    "Drop the smooth white can with accents into the basket with handle using the left arm, then lift the basket with handle with another arm.",
+    "Pick the white can, set it in the basket for holding items, then lift the basket for holding items.",
+    "Grab the medium metal can, drop it into the brown basket, then use another arm for the brown basket.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the basket with handle, lift the basket with handle with another arm.",
+    "Use the same arm to grab the beverage can with printed label, place in the basket with handle, and then lift the basket with handle.",
+    "Pick up the can with gold top lid using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Lift the smooth white can with accents with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Pick up the smooth white can with accents, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the can with rounded cylindrical shape, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Lift the white can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.",
+    "Pick the white can with 3D RADY label, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.",
+    "Grab the beverage can with printed label, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Grab the cylindrical white glossy can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the medium metal can, place it into the woven basket, and lift the woven basket using the other arm.",
+    "Lift the smooth white can with accents, set it in the light brown oval basket, and elevate the light brown oval basket.",
+    "Place the can with rounded cylindrical shape in the woven basket and then lift the woven basket.",
+    "Take the white can with 3D RADY label and put it in the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to grab the white can with 3D RADY label, place it in the basket with handle, and lift the basket with handle.",
+    "Pick up the medium metal can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Place the can with gold top lid in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Pick up the can with gold top lid, set it inside the woven basket, then lift the woven basket.",
+    "Take the can with gold top lid, place it into the basket with handle, then lift the basket with handle.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the woven basket, and lift the woven basket.",
+    "Place the can with gold top lid inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick the can with gold top lid with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Take the smooth white can with accents in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Grab the white can, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Lift the cylindrical white glossy can, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Lift the medium metal can, place it in the basket with handle, and raise the basket with handle.",
+    "Use the left arm to pick the medium metal can, place it inside the basket with handle, then lift the basket with handle.",
+    "Take the medium metal can, set it into the basket with handle, and raise the basket with handle.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the red-orange text on white can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Pick up the cylindrical white glossy can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm to grab the white can with 3D RADY label, put it into the brown basket, and lift the brown basket with another arm.",
+    "Grab the can with sealed gold top, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.",
+    "Lift the white can with 3D RADY label, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Lift the red-orange text on white can, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Hold the white can with 3D RADY label using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Pick the red-orange text on white can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Pick the smooth white can with accents with the left arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Take the white can with 3D RADY label with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Grab the cylindrical white glossy can, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Pick up the smooth white can with accents, put it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab and drop the can with gold top lid in the basket with handle, lift the basket with handle.",
+    "Grab the white can with 3D RADY label using the left arm, drop the white can with 3D RADY label into the light brown oval basket and lift the light brown oval basket.",
+    "Grab the can with gold top lid, drop it into the woven basket, and raise the woven basket with the other arm."
+  ],
+  "unseen": [
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode34.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..2babee003592cbf185996cc338f25a6eea274b35
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the beverage can with printed label, put it in the woven basket, and lift the woven basket.",
+    "Pick the white can with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Use the left arm to grab the smooth white can with accents, put it into the light brown oval basket, and lift the light brown oval basket with another arm.",
+    "Lift the cylindrical white glossy can with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Pick the medium metal can with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Take the can with sealed gold top and put it in the brown basket, then lift the brown basket.",
+    "Place the smooth white can with accents inside the basket for carrying things, then lift the basket for carrying things.",
+    "Take the can with gold top lid with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Lift the white can, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Lift the can with rounded cylindrical shape, place it inside the basket for holding items, and elevate the basket for holding items.",
+    "Drop the white can into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.",
+    "Pick up the can with sealed gold top with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Pick up the can with gold top lid, place it into the brown basket, then lift the brown basket.",
+    "Use the same arm to grab the beverage can with printed label, place in the brown basket, and then lift the brown basket.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Take the white can, place it into the basket with handle, then lift the basket with handle.",
+    "Lift the can with sealed gold top, place it in the light brown oval basket, and raise the light brown oval basket.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the light brown oval basket, and lift the light brown oval basket.",
+    "Lift the medium metal can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the can with gold top lid, set it into the basket with loop handle, then raise the basket with loop handle.",
+    "Grab the small white can with branding, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Pick the beverage can with printed label using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Use the left arm to grab the beverage can with printed label, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick the cylindrical white glossy can, set it in the brown basket, and lift the brown basket upward.",
+    "Place the white can in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.",
+    "Pick the can with rounded cylindrical shape, set it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the white can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.",
+    "Grab and drop the white can with 3D RADY label in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Grab the smooth white can with accents with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Grab the can with gold top lid, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Take the medium metal can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Pick up the cylindrical white glossy can, set it inside the brown basket, then lift the brown basket.",
+    "Lift the red-orange text on white can, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the white can with 3D RADY label, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Place the can with rounded cylindrical shape in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the woven basket and lift the woven basket.",
+    "Grab the white can with 3D RADY label, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Hold the red-orange text on white can using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Pick up the can with gold top lid using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Take the red-orange text on white can in the left arm, place it into the brown basket with woven ridges, another arm lifts the brown basket with woven ridges.",
+    "Lift the beverage can with printed label, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Pick up the red-orange text on white can, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Grab the can with sealed gold top, place it in the woven basket, and then lift the woven basket.",
+    "Pick the white can with 3D RADY label with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Pick up the white can, put it into the woven basket, and lift the woven basket.",
+    "Use the left arm to pick the cylindrical white glossy can, place it inside the basket for holding items, then lift the basket for holding items.",
+    "Grab the white can, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Pick up the can with sealed gold top, put it in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the can with sealed gold top with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Use the left arm to grab the white can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Lift the smooth white can with accents with the left arm, set it in the brown basket, and lift with another arm.",
+    "Pick the medium metal can with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Take the red-orange text on white can and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Place the can with rounded cylindrical shape inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the can with sealed gold top with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Lift the can with rounded cylindrical shape, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Lift the can with sealed gold top, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Drop the can with red-orange text into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Pick up the can with sealed gold top, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Use the left arm to grab the small white can with branding and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Take the can with rounded cylindrical shape, place it into the basket for holding items, then lift the basket for holding items.",
+    "Lift the medium metal can, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Use the left arm to hold the small white can with branding, drop the small white can with branding into the woven basket, and lift the woven basket.",
+    "Lift the can with rounded cylindrical shape, put it in the light brown oval basket, and carry the light brown oval basket afterward.",
+    "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the woven basket, and lift the woven basket.",
+    "Grab the can with gold top lid, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Grab the cylindrical white glossy can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to grab the red-orange text on white can, place it in the brown basket, and lift the brown basket.",
+    "Pick the can with red-orange text, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Place the beverage can with printed label in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.",
+    "Pick the cylindrical white glossy can, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab the white can, place it in the woven basket, and lift the woven basket upwards.",
+    "Grab and drop the cylindrical white glossy can in the wooden basket with curved handle, lift the wooden basket with curved handle.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Grab the red-orange text on white can, place it in the basket with loop handle, and raise the basket with loop handle using the other arm.",
+    "Take the small white can with branding, set it into the brown basket, and raise the brown basket.",
+    "Pick up the can with rounded cylindrical shape, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Lift the red-orange text on white can, set it in the basket with loop handle, and elevate the basket with loop handle.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the basket with handle, and lift the basket with handle.",
+    "Grab the white can, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Place the cylindrical white glossy can in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Grab the medium metal can using the left arm, drop the medium metal can into the basket with loop handle and lift the basket with loop handle.",
+    "Grab the beverage can with printed label, put it in the woven basket, then raise the woven basket.",
+    "Hold the white can with 3D RADY label using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Pick up the smooth white can with accents using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Take the beverage can with printed label in the left arm, place it into the basket with handle, another arm lifts the basket with handle.",
+    "Lift the white can, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Pick up the beverage can with printed label, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Grab the red-orange text on white can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Pick the can with sealed gold top with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Pick up the cylindrical white glossy can, put it into the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to pick the small white can with branding, place it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Grab the can with rounded cylindrical shape, drop it into the brown basket, and raise the brown basket with the other arm."
+  ],
+  "unseen": [
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode35.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca5f85e4cb6c1d1fefd9f9664867fef529cb61fb
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the can with gold top lid and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the wooden basket with curved handle, and lift with another arm.",
+    "Pick the smooth white can with accents with the left arm, drop it in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Grab the small white can with branding, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Pick up the beverage can with printed label, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the small white can with branding and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the white can with 3D RADY label, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Place the can with gold top lid inside the basket with handle, then lift the basket with handle.",
+    "Pick up the beverage can with printed label, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the smooth white can with accents, place it in the basket for holding items, and lift the basket for holding items.",
+    "Take the white can with 3D RADY label in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Grab and drop the red-orange text on white can in the light brown oval basket, lift the light brown oval basket.",
+    "Grab the smooth white can with accents, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Pick the white can with 3D RADY label with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Use the left arm for the medium metal can, place the medium metal can in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick up the can with rounded cylindrical shape, put it into the brown basket, and lift the brown basket.",
+    "Pick up the can with rounded cylindrical shape, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Take the can with red-orange text, set it into the brown basket, and raise the brown basket.",
+    "Lift the small white can with branding, place it in the basket with handle, and raise the basket with handle.",
+    "Lift the medium metal can, set it in the basket with handle, and elevate the basket with handle.",
+    "Use the same arm to grab the red-orange text on white can, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Drop the can with sealed gold top into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.",
+    "Use the left arm to pick the medium metal can, place it inside the woven basket, then lift the woven basket.",
+    "Take the medium metal can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick the can with red-orange text using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Grab the small white can with branding, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Place the cylindrical white glossy can in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Grab the white can with 3D RADY label, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Pick up the cylindrical white glossy can with the left arm, place into the woven basket, the other arm raises the woven basket.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the light brown oval basket and lift the light brown oval basket.",
+    "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the smooth white can with accents, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Use the left arm to grab the can with red-orange text, place it into the basket with handle, and lift the basket with handle using the other arm.",
+    "Hold the can with rounded cylindrical shape using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm to take the small white can with branding, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick the white can with 3D RADY label with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the woven basket, and lift the woven basket with the other arm.",
+    "Use the left arm to grab the beverage can with printed label, put it into the basket with loop handle, and lift the basket with loop handle with another arm.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Pick the can with sealed gold top, set it in the basket for holding items, and lift the basket for holding items upward.",
+    "Take the red-orange text on white can with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Grab the smooth white can with accents, place it in the basket for carrying things, and lift the basket for carrying things upwards.",
+    "Place the red-orange text on white can in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Grab the small white can with branding, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.",
+    "Lift the red-orange text on white can, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Lift the can with rounded cylindrical shape, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Lift the white can with 3D RADY label, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Pick the can with red-orange text, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the white can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Pick up the beverage can with printed label, place it into the brown basket, then lift the brown basket.",
+    "Use the left arm to grab the white can with 3D RADY label and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Lift the can with red-orange text with the left arm, set it in the basket for holding items, and lift with another arm.",
+    "Pick the can with gold top lid with the left arm, drop it in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Grab the red-orange text on white can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Pick up the white can with 3D RADY label, set it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Take the small white can with branding and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the cylindrical white glossy can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Place the medium metal can inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm to grab the beverage can with printed label, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Take the can with red-orange text in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Grab and drop the white can in the brown basket, lift the brown basket.",
+    "Grab the medium metal can, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.",
+    "Pick the white can with 3D RADY label with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick up the smooth white can with accents, put it into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick up the can with sealed gold top, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Take the white can with 3D RADY label, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Lift the white can with 3D RADY label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Lift the white can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Use the same arm to grab the cylindrical white glossy can, place in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Drop the can with rounded cylindrical shape into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.",
+    "Use the left arm to pick the cylindrical white glossy can, place it inside the brown basket, then lift the brown basket.",
+    "Take the white can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Pick the can with gold top lid using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab the white can, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Place the red-orange text on white can in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Grab the can with gold top lid, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Pick up the can with gold top lid with the left arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the basket for holding items and lift the basket for holding items.",
+    "Use the left arm to hold the white can, drop the white can into the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the medium metal can, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the brown basket, and lift the brown basket using the other arm.",
+    "Hold the can with rounded cylindrical shape using the left arm, place it in the basket with handle, and lift the basket with handle.",
+    "Use the left arm to take the small white can with branding, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick the can with red-orange text with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Grab the can with red-orange text with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Use the left arm to grab the can with rounded cylindrical shape, put it into the brown basket, and lift the brown basket with another arm.",
+    "Pick up the smooth white can with accents using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Pick the small white can with branding, set it in the brown basket, and lift the brown basket upward.",
+    "Take the smooth white can with accents with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Grab the can with rounded cylindrical shape, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Place the can with rounded cylindrical shape in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Grab the beverage can with printed label, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Lift the medium metal can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Lift the can with sealed gold top, place it inside the woven basket, and elevate the woven basket.",
+    "Lift the smooth white can with accents, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.",
+    "Pick the white can with 3D RADY label, set it in the woven basket, then lift the woven basket.",
+    "Grab the can with rounded cylindrical shape, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.",
+    "Pick up the beverage can with printed label, place it into the basket with handle, then lift the basket with handle."
+  ],
+  "unseen": [
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode36.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e5f65e0fdc2e9906f0ae84070549b7dda679f6a
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the small white can with branding, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the beverage can with printed label, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the basket for carrying things, and lift the basket for carrying things.",
+    "Use the left arm to grab the medium metal can, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Use the same arm to grab the can with sealed gold top, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Pick the red-orange text on white can using the left arm, drop it in the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Pick the white can with 3D RADY label with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Grab the can with gold top lid, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Grab the medium metal can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Use the left arm to grab the can with gold top lid, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Place the beverage can with printed label inside the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the brown basket, then lift the brown basket.",
+    "Lift the can with rounded cylindrical shape, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Lift the cylindrical white glossy can, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Place the medium metal can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.",
+    "Grab the can with gold top lid using the left arm, drop the can with gold top lid into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.",
+    "Take the white can, set it into the brown basket, and raise the brown basket.",
+    "Grab the medium metal can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Grab and drop the can with red-orange text in the wooden basket with curved handle, lift the wooden basket with curved handle.",
+    "Pick up the white can with 3D RADY label, set it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Pick up the medium metal can, place it into the basket for holding items, then lift the basket for holding items.",
+    "Pick up the medium metal can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Grab the medium metal can, drop it into the brown basket, and raise the brown basket.",
+    "Grab the can with rounded cylindrical shape, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Lift the can with sealed gold top, place it in the light brown oval basket, and raise the light brown oval basket.",
+    "Take the can with gold top lid, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the smooth white can with accents and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the can with gold top lid with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.",
+    "Drop the can with rounded cylindrical shape into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Place the white can with 3D RADY label in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Lift the can with gold top lid, put it in the light brown oval basket, and carry the light brown oval basket afterward.",
+    "Grab the beverage can with printed label, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Pick up the cylindrical white glossy can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Take the can with gold top lid in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Take the can with gold top lid with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Pick up the white can, put it in the basket for holding items, and lift the basket for holding items.",
+    "Lift the can with gold top lid, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Use the left arm to grab the medium metal can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick the can with rounded cylindrical shape with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Hold the smooth white can with accents using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the medium metal can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Grab the can with gold top lid, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Lift the can with red-orange text, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Pick the can with rounded cylindrical shape, set it in the basket with handle, then lift the basket with handle.",
+    "Use the left arm to grab the red-orange text on white can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Pick the small white can with branding, set it in the light brown oval basket, and lift the light brown oval basket upward.",
+    "Use the left arm to take the can with rounded cylindrical shape, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Pick the can with sealed gold top with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the can with red-orange text, drop it into the woven basket, then use another arm for the woven basket.",
+    "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the can with gold top lid, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Use the same arm to grab the can with sealed gold top, place in the basket with loop handle, and then lift the basket with loop handle.",
+    "Pick the smooth white can with accents using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Pick the can with sealed gold top with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Grab the small white can with branding, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Grab the medium metal can, place it in the brown basket, and then lift the brown basket.",
+    "Use the left arm to grab the cylindrical white glossy can, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Place the white can inside the woven basket, then lift the woven basket.",
+    "Use the left arm to pick the cylindrical white glossy can, place it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Lift the smooth white can with accents, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Lift the white can with 3D RADY label, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.",
+    "Place the smooth white can with accents in the light brown oval basket and then use another arm to lift the light brown oval basket.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.",
+    "Take the beverage can with printed label, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Grab the cylindrical white glossy can, drop it into the woven basket, and raise the woven basket with the other arm.",
+    "Grab and drop the can with sealed gold top in the basket with loop handle, lift the basket with loop handle.",
+    "Pick up the beverage can with printed label, set it inside the woven basket, then lift the woven basket.",
+    "Pick up the medium metal can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the white can with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Grab the medium metal can, drop it into the brown basket, and raise the brown basket.",
+    "Grab the cylindrical white glossy can, put it in the woven basket, then raise the woven basket.",
+    "Lift the cylindrical white glossy can, place it in the basket with handle, and raise the basket with handle.",
+    "Take the white can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the red-orange text on white can and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Lift the cylindrical white glossy can with the left arm, set it in the brown basket, and lift with another arm.",
+    "Drop the white can with 3D RADY label into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.",
+    "Place the can with red-orange text in the basket with loop handle and then lift the basket with loop handle.",
+    "Lift the smooth white can with accents, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Grab the can with sealed gold top, set it into the basket for holding items, then raise the basket for holding items.",
+    "Pick up the can with gold top lid, put it into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Take the can with rounded cylindrical shape in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.",
+    "Pick up the white can using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Take the can with red-orange text with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Pick up the white can with 3D RADY label, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the white can with 3D RADY label, set it in the basket with handle, and elevate the basket with handle.",
+    "Use the left arm to grab the red-orange text on white can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick the beverage can with printed label with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Hold the smooth white can with accents using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick up the beverage can with printed label, place it in the brown basket, and then lift the brown basket.",
+    "Grab the beverage can with printed label, place it in the basket with handle, and raise the basket with handle using the other arm.",
+    "Lift the cylindrical white glossy can, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Pick the beverage can with printed label, set it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to grab the small white can with branding, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.",
+    "Pick the white can, set it in the light brown oval basket, and lift the light brown oval basket upward."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode37.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..30f540ded266c05123fd77cfc27e42bf572d1cb8
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the can with rounded cylindrical shape, drop it into the basket with handle, and raise the basket with handle with the other arm.",
+    "Use the left arm to grab the small white can with branding, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.",
+    "Lift the can with rounded cylindrical shape, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Lift the smooth white can with accents with the left arm, set it in the brown basket with woven ridges, and lift with another arm.",
+    "Pick the small white can with branding using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Lift the can with rounded cylindrical shape, place it inside the basket with handle, and elevate the basket with handle.",
+    "Take the can with red-orange text, place it into the woven basket, then lift the woven basket.",
+    "Grab the can with rounded cylindrical shape, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Drop the small white can with branding into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the brown basket with woven ridges and lift the brown basket with woven ridges.",
+    "Pick up the small white can with branding, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the white can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Use the left arm to pick the medium metal can, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the beverage can with printed label, place it in the brown basket, and then lift the brown basket.",
+    "Use the left arm to grab the can with sealed gold top, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Take the small white can with branding in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.",
+    "Lift the red-orange text on white can, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Place the can with rounded cylindrical shape in the basket for carrying things and then lift the basket for carrying things.",
+    "Use the left arm to grab the white can, put it into the light brown oval basket, and lift the light brown oval basket with another arm.",
+    "Hold the can with rounded cylindrical shape using the left arm, place it in the basket with handle, and lift the basket with handle.",
+    "Grab the red-orange text on white can, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Place the small white can with branding in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.",
+    "Use the left arm to grab the smooth white can with accents and place in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Pick the can with red-orange text with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Take the can with red-orange text, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick up the can with gold top lid, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Grab the white can, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Pick up the beverage can with printed label with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Grab and drop the can with rounded cylindrical shape in the basket with loop handle, lift the basket with loop handle.",
+    "Lift the can with sealed gold top, place it in the brown basket, and raise the brown basket.",
+    "Take the white can with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Use the same arm to grab the small white can with branding, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the brown basket, and lift the brown basket.",
+    "Grab the smooth white can with accents, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.",
+    "Pick the can with red-orange text with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the red-orange text on white can, set it into the basket with handle, then raise the basket with handle.",
+    "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the basket with handle, and lift the basket with handle.",
+    "Use the left arm to take the small white can with branding, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the can with sealed gold top, put it in the basket for holding items, and lift the basket for holding items.",
+    "Lift the cylindrical white glossy can, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Pick up the small white can with branding, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the cylindrical white glossy can, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.",
+    "Pick up the beverage can with printed label, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Pick up the white can with 3D RADY label using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab the can with gold top lid with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Pick the smooth white can with accents, set it in the basket for carrying things, then lift the basket for carrying things.",
+    "Take the cylindrical white glossy can and put it in the brown basket, then lift the brown basket.",
+    "Place the white can with 3D RADY label inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick the beverage can with printed label with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Pick the can with rounded cylindrical shape, set it in the woven basket, and lift the woven basket upward.",
+    "Grab the smooth white can with accents, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Lift the beverage can with printed label, set it in the basket with handle, and elevate the basket with handle.",
+    "Lift the red-orange text on white can with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.",
+    "Pick the red-orange text on white can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Lift the can with red-orange text, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Take the can with sealed gold top, place it into the woven basket, then lift the woven basket.",
+    "Grab the can with red-orange text, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Drop the can with sealed gold top into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the brown basket with woven ridges and lift the brown basket with woven ridges.",
+    "Pick up the can with red-orange text, put it into the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the red-orange text on white can, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the woven basket, then lift the woven basket.",
+    "Grab the white can with 3D RADY label, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Use the left arm to grab the can with sealed gold top, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Take the small white can with branding in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Lift the white can, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Place the medium metal can in the basket for carrying things and then lift the basket for carrying things.",
+    "Use the left arm to grab the smooth white can with accents, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Hold the red-orange text on white can using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the can with gold top lid, put it in the woven basket, then raise the woven basket.",
+    "Place the white can with 3D RADY label in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Use the left arm to grab the smooth white can with accents and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick the can with sealed gold top with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Take the can with gold top lid, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Pick up the red-orange text on white can, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the cylindrical white glossy can, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Pick up the can with sealed gold top with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.",
+    "Grab and drop the beverage can with printed label in the light brown oval basket, lift the light brown oval basket.",
+    "Lift the can with gold top lid, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Take the medium metal can with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Use the same arm to grab the cylindrical white glossy can, place in the basket with loop handle, and then lift the basket with loop handle.",
+    "Use the left arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the basket with handle, and lift the basket with handle.",
+    "Grab the can with sealed gold top, drop it into the basket for holding items, then use another arm for the basket for holding items.",
+    "Pick the medium metal can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the can with sealed gold top, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the basket with handle, and lift the basket with handle.",
+    "Use the left arm to take the small white can with branding, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the small white can with branding, put it in the brown basket, and lift the brown basket.",
+    "Lift the white can, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Pick up the cylindrical white glossy can, place it into the woven basket, then lift the woven basket.",
+    "Grab the white can, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Pick up the can with gold top lid, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Grab the cylindrical white glossy can with the left arm, put it into the brown basket, and lift the brown basket with the other arm.",
+    "Pick the can with gold top lid, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Take the can with rounded cylindrical shape and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Place the red-orange text on white can inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Pick the medium metal can, set it in the basket for holding items, and lift the basket for holding items upward."
+  ],
+  "unseen": [
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode38.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..717c4d5c0d39bb7f06cd229f8a548069eed5fc2d
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the beverage can with printed label, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Hold the can with sealed gold top using the left arm, place it in the basket with handle, and lift the basket with handle.",
+    "Use the left arm to grab the white can with 3D RADY label, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Place the white can inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the white can with 3D RADY label, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Take the medium metal can, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick the cylindrical white glossy can with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Lift the can with rounded cylindrical shape, drop it into the basket with handle, then carry the basket with handle.",
+    "Take the white can with 3D RADY label in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Grab the white can with 3D RADY label, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Grab the can with gold top lid with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Place the can with gold top lid in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Use the left arm for the red-orange text on white can, place the red-orange text on white can in the light brown oval basket, and lift the light brown oval basket.",
+    "Place the can with gold top lid in the basket for carrying things and then lift the basket for carrying things.",
+    "Lift the can with sealed gold top, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Lift the red-orange text on white can with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Take the red-orange text on white can, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the can with sealed gold top using the left arm, drop the can with sealed gold top into the basket with loop handle and lift the basket with loop handle.",
+    "Lift the medium metal can, place it inside the basket for holding items, and elevate the basket for holding items.",
+    "Pick up the can with gold top lid, put it in the woven basket, and lift the woven basket.",
+    "Grab the can with rounded cylindrical shape, put it in the basket with handle, then raise the basket with handle.",
+    "Use the left arm to grab the can with sealed gold top, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.",
+    "Grab and drop the can with rounded cylindrical shape in the brown basket, lift the brown basket.",
+    "Use the left arm to take the smooth white can with accents, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Grab the can with gold top lid, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Use the same arm to grab the white can, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the white can with 3D RADY label with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick the can with red-orange text with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Lift the white can with 3D RADY label, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Use the left arm to grab the can with gold top lid and place in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Pick the cylindrical white glossy can, set it in the brown basket, and lift the brown basket upward.",
+    "Pick up the medium metal can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.",
+    "Pick up the medium metal can with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.",
+    "Drop the can with sealed gold top into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Pick up the red-orange text on white can, place it in the brown basket, and then lift the brown basket.",
+    "Grab the can with sealed gold top, drop it into the brown basket, then use another arm for the brown basket.",
+    "Pick the can with sealed gold top, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the beverage can with printed label, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Take the can with sealed gold top with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Grab the cylindrical white glossy can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Pick the medium metal can using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Take the white can with 3D RADY label and put it in the basket for holding items, then lift the basket for holding items.",
+    "Use the left arm to grab the red-orange text on white can, put it into the brown basket, and lift the brown basket with another arm.",
+    "Grab the white can, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Pick up the smooth white can with accents, place it into the woven basket, then lift the woven basket.",
+    "Pick up the white can, set it inside the brown basket, then lift the brown basket.",
+    "Lift the smooth white can with accents, put it in the basket with handle, and carry the basket with handle afterward.",
+    "Lift the smooth white can with accents, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Hold the small white can with branding using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Use the left arm to grab the can with rounded cylindrical shape, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Place the white can with 3D RADY label inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the can with red-orange text, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Take the beverage can with printed label, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Pick the smooth white can with accents with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Lift the can with gold top lid, drop it into the woven basket, then carry the woven basket.",
+    "Take the can with rounded cylindrical shape in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Grab the can with sealed gold top, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Grab the small white can with branding with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Place the can with rounded cylindrical shape in the basket with handle and then use another arm to lift the basket with handle.",
+    "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Place the white can with 3D RADY label in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Lift the white can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.",
+    "Lift the smooth white can with accents with the left arm, set it in the brown basket, and lift with another arm.",
+    "Take the can with rounded cylindrical shape, place it into the brown basket, then lift the brown basket.",
+    "Grab the white can with 3D RADY label using the left arm, drop the white can with 3D RADY label into the basket with handle and lift the basket with handle.",
+    "Lift the small white can with branding, place it inside the basket for carrying things, and elevate the basket for carrying things.",
+    "Pick up the can with gold top lid, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the red-orange text on white can, put it in the brown basket, then raise the brown basket.",
+    "Use the left arm to grab the can with sealed gold top, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Grab and drop the medium metal can in the basket for carrying things, lift the basket for carrying things.",
+    "Use the left arm to take the small white can with branding, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Grab the medium metal can, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick the medium metal can with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Use the left arm to pick the medium metal can, place it inside the brown basket, then lift the brown basket.",
+    "Pick the can with red-orange text with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Lift the smooth white can with accents, set it in the light brown oval basket, and elevate the light brown oval basket.",
+    "Use the left arm to grab the medium metal can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Pick the small white can with branding, set it in the basket with handle, and lift the basket with handle upward.",
+    "Pick up the smooth white can with accents, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Pick up the smooth white can with accents with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Drop the can with rounded cylindrical shape into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.",
+    "Pick up the cylindrical white glossy can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Grab the cylindrical white glossy can, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.",
+    "Pick the can with gold top lid, set it in the basket for holding items, then lift the basket for holding items.",
+    "Grab the medium metal can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Take the small white can with branding with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Grab the medium metal can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Pick the can with red-orange text using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Take the can with gold top lid and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to grab the can with rounded cylindrical shape, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Grab the can with red-orange text, place it in the brown basket, and then lift the brown basket.",
+    "Pick up the beverage can with printed label, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Pick up the beverage can with printed label, set it inside the brown basket, then lift the brown basket.",
+    "Lift the can with gold top lid, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward."
+  ],
+  "unseen": [
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode39.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..7270191479ea8ab5ccd0560b4f5a05edf18d2e5f
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm for the medium metal can, place the medium metal can in the basket with loop handle, and lift the basket with loop handle.",
+    "Take the red-orange text on white can in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Grab the can with red-orange text, set it into the basket with handle, then raise the basket with handle.",
+    "Pick the white can with 3D RADY label with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Lift the red-orange text on white can with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the smooth white can with accents, drop it into the basket with handle, and raise the basket with handle.",
+    "Pick up the smooth white can with accents, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the cylindrical white glossy can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.",
+    "Place the can with red-orange text in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.",
+    "Pick the medium metal can with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Place the white can with 3D RADY label inside the basket for carrying things, then lift the basket for carrying things.",
+    "Pick up the smooth white can with accents, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Pick the can with sealed gold top using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Use the left arm to grab the white can with 3D RADY label and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Use the left arm to grab the small white can with branding, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Use the left arm to pick the can with rounded cylindrical shape, place it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Place the can with red-orange text in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Drop the can with red-orange text into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.",
+    "Lift the medium metal can, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the small white can with branding, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Hold the can with sealed gold top using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Take the can with red-orange text and put it in the basket with handle, then lift the basket with handle.",
+    "Grab and drop the cylindrical white glossy can in the woven basket, lift the woven basket.",
+    "Grab the beverage can with printed label, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Take the medium metal can, set it into the basket with handle, and raise the basket with handle.",
+    "Use the left arm to grab the can with red-orange text, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Grab the beverage can with printed label, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Grab the medium metal can, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Pick up the red-orange text on white can, put it in the brown basket, and lift the brown basket.",
+    "Lift the can with rounded cylindrical shape, set it in the basket with loop handle, and elevate the basket with loop handle.",
+    "Pick up the beverage can with printed label with the left arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Use the left arm to grab the cylindrical white glossy can, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the beverage can with printed label with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Lift the can with sealed gold top, put it in the brown basket, and carry the brown basket afterward.",
+    "Use the same arm to grab the can with sealed gold top, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Lift the can with red-orange text, place it in the brown basket, pick up the brown basket afterward.",
+    "Pick the medium metal can with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.",
+    "Grab the red-orange text on white can, place it in the basket for carrying things, and lift the basket for carrying things upwards.",
+    "Lift the red-orange text on white can, place it in the basket with handle, and raise the basket with handle.",
+    "Lift the can with red-orange text, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Pick up the can with red-orange text, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Pick the beverage can with printed label, set it in the woven basket, and lift the woven basket upward.",
+    "Take the can with red-orange text, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm to take the can with sealed gold top, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.",
+    "Pick the smooth white can with accents, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Take the smooth white can with accents with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Use the left arm for the white can, place the white can in the light brown oval basket, and lift the light brown oval basket.",
+    "Take the red-orange text on white can in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Grab the white can with 3D RADY label, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Pick the white can with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Lift the can with red-orange text with the left arm, set it in the woven basket, and lift with another arm.",
+    "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the smooth white can with accents, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Pick up the medium metal can, place it into the woven basket, then lift the woven basket.",
+    "Grab the can with red-orange text, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Place the small white can with branding in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Place the red-orange text on white can inside the brown basket, then lift the brown basket.",
+    "Pick up the white can with 3D RADY label, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Use the left arm to grab the red-orange text on white can and place in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Use the left arm to grab the small white can with branding, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Place the cylindrical white glossy can in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Drop the can with rounded cylindrical shape into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.",
+    "Lift the white can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.",
+    "Pick up the can with sealed gold top, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the white can with 3D RADY label, place it in the woven basket, and then lift the woven basket.",
+    "Hold the small white can with branding using the left arm, place it in the basket for holding items, and lift the basket for holding items.",
+    "Take the medium metal can and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab and drop the white can with 3D RADY label in the light brown oval basket, lift the light brown oval basket.",
+    "Grab the white can, drop it into the light brown oval basket, then use another arm for the light brown oval basket.",
+    "Take the white can, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Grab the white can with 3D RADY label, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.",
+    "Grab the can with gold top lid, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Pick up the can with sealed gold top, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Lift the white can with 3D RADY label, set it in the brown basket, and elevate the brown basket.",
+    "Pick up the can with red-orange text with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Use the left arm to grab the cylindrical white glossy can, place it in the basket with handle, and lift the basket with handle.",
+    "Grab the small white can with branding with the left arm, put it into the brown basket, and lift the brown basket with the other arm.",
+    "Lift the white can with 3D RADY label, put it in the basket for carrying things, and carry the basket for carrying things afterward.",
+    "Use the same arm to grab the can with sealed gold top, place in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Lift the medium metal can, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Pick the can with red-orange text with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick up the can with gold top lid using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.",
+    "Grab the can with red-orange text, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.",
+    "Lift the small white can with branding, place it in the basket for carrying things, and raise the basket for carrying things.",
+    "Lift the cylindrical white glossy can, place it inside the brown basket, and elevate the brown basket.",
+    "Pick up the smooth white can with accents, set it inside the brown basket, then lift the brown basket.",
+    "Pick the red-orange text on white can, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Take the small white can with branding, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to take the can with red-orange text, drop it in the basket with loop handle, and lift the basket with loop handle.",
+    "Grab the can with gold top lid using the left arm, drop the can with gold top lid into the basket with loop handle and lift the basket with loop handle.",
+    "Pick the red-orange text on white can, set it in the basket for holding items, then lift the basket for holding items.",
+    "Take the can with gold top lid with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm."
+  ],
+  "unseen": [
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode4.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..34d1dc0481811c3fa6c26ef175e47e677ba14f18
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the can with gold top lid, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Grab the can with red-orange text, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Take the can with rounded cylindrical shape and put it in the brown basket, then lift the brown basket.",
+    "Grab the can with sealed gold top, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Lift the white can with 3D RADY label, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Pick up the medium metal can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Grab and drop the can with red-orange text in the basket for carrying things, lift the basket for carrying things.",
+    "Grab the can with sealed gold top, drop it into the basket for holding items, then use another arm for the basket for holding items.",
+    "Use the left arm to grab the smooth white can with accents and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Use the left arm to grab the red-orange text on white can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Use the left arm to grab the can with red-orange text, put it into the basket for holding items, and lift the basket for holding items with another arm.",
+    "Pick up the beverage can with printed label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Lift the small white can with branding, put it in the woven basket, and carry the woven basket afterward.",
+    "Grab the cylindrical white glossy can, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Take the white can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Grab the cylindrical white glossy can, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.",
+    "Pick the white can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Lift the can with sealed gold top, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Pick up the can with gold top lid, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Lift the smooth white can with accents with the left arm, set it in the woven basket, and lift with another arm.",
+    "Grab the small white can with branding, set it into the basket with loop handle, then raise the basket with loop handle.",
+    "Place the beverage can with printed label in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.",
+    "Take the can with red-orange text in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.",
+    "Place the smooth white can with accents inside the basket for carrying things, then lift the basket for carrying things.",
+    "Drop the can with sealed gold top into the woven basket using the left arm, then lift the woven basket with another arm.",
+    "Use the same arm to grab the beverage can with printed label, place in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the brown basket, and lift the brown basket.",
+    "Take the can with gold top lid, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the light brown oval basket and lift the light brown oval basket.",
+    "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the basket for holding items, and lift the basket for holding items.",
+    "Pick the can with gold top lid, set it in the light brown oval basket, and lift the light brown oval basket upward.",
+    "Lift the beverage can with printed label, drop it into the basket for holding items, then carry the basket for holding items.",
+    "Pick the white can with 3D RADY label with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Lift the can with rounded cylindrical shape, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.",
+    "Lift the medium metal can, place it in the basket for holding items, and raise the basket for holding items.",
+    "Use the left arm to take the medium metal can, drop it in the basket with handle, and lift the basket with handle.",
+    "Place the red-orange text on white can in the basket with handle and then lift the basket with handle.",
+    "Take the smooth white can with accents with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Hold the can with sealed gold top using the left arm, place it in the basket for holding items, and lift the basket for holding items.",
+    "Pick the can with gold top lid using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Pick up the red-orange text on white can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Grab the red-orange text on white can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Pick the medium metal can, set it in the basket for carrying things, then lift the basket for carrying things.",
+    "Pick the white can with the left arm, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Pick up the smooth white can with accents, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the medium metal can with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Use the left arm to grab the white can, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, set it inside the brown basket, then lift the brown basket.",
+    "Pick up the white can with 3D RADY label, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the white can, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Grab the medium metal can, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Take the white can with 3D RADY label and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the can with red-orange text, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Lift the white can, set it in the brown basket, and elevate the brown basket.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab and drop the red-orange text on white can in the brown basket with woven ridges, lift the brown basket with woven ridges.",
+    "Grab the medium metal can, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.",
+    "Use the left arm to grab the beverage can with printed label and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Use the left arm to grab the white can, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Use the left arm to grab the white can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Pick up the beverage can with printed label, put it into the basket for holding items, and lift the basket for holding items.",
+    "Lift the small white can with branding, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.",
+    "Grab the can with sealed gold top, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Take the can with red-orange text, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Grab the cylindrical white glossy can, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Lift the can with red-orange text, place it inside the light brown oval basket, and elevate the light brown oval basket.",
+    "Pick up the smooth white can with accents, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Lift the can with sealed gold top with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Grab the white can, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Place the can with gold top lid in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Take the small white can with branding in the left arm, place it into the basket with handle, another arm lifts the basket with handle.",
+    "Place the small white can with branding inside the brown basket, then lift the brown basket.",
+    "Drop the red-orange text on white can into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Use the same arm to grab the red-orange text on white can, place in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm for the small white can with branding, place the small white can with branding in the woven basket, and lift the woven basket.",
+    "Take the can with gold top lid, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab the white can using the left arm, drop the white can into the basket made of woven wood and lift the basket made of woven wood.",
+    "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick the can with sealed gold top, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Lift the smooth white can with accents, drop it into the basket for holding items, then carry the basket for holding items.",
+    "Pick the can with rounded cylindrical shape with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Lift the red-orange text on white can, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Lift the red-orange text on white can, place it in the basket for holding items, and raise the basket for holding items.",
+    "Use the left arm to take the white can with 3D RADY label, drop it in the basket with loop handle, and lift the basket with loop handle.",
+    "Place the white can in the woven basket and then lift the woven basket.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Hold the red-orange text on white can using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick the smooth white can with accents using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Pick up the white can with 3D RADY label with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Grab the white can with 3D RADY label, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Pick the small white can with branding, set it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Pick the medium metal can with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Pick up the beverage can with printed label, put it in the basket with handle, and lift the basket with handle.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Use the left arm to grab the white can with 3D RADY label, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick up the can with rounded cylindrical shape, set it inside the woven basket, then lift the woven basket.",
+    "Pick up the beverage can with printed label, place it into the woven basket, then lift the woven basket."
+  ],
+  "unseen": [
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode40.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..816b218aeb08c38f88875a0c00073dc9c5744890
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Take the small white can with branding with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.",
+    "Grab the can with sealed gold top, place it in the basket with handle, and raise the basket with handle using the other arm.",
+    "Grab the small white can with branding, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Lift the can with sealed gold top, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Place the smooth white can with accents in the basket for holding items and then lift the basket for holding items.",
+    "Grab and drop the can with gold top lid in the basket with handle, lift the basket with handle.",
+    "Lift the medium metal can with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Place the small white can with branding in the woven basket and then use another arm to lift the woven basket.",
+    "Use the left arm for the white can with 3D RADY label, place the white can with 3D RADY label in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick the medium metal can, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Pick up the cylindrical white glossy can, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Drop the red-orange text on white can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Pick the medium metal can with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the basket for carrying things and lift the basket for carrying things.",
+    "Grab the red-orange text on white can, set it into the basket for carrying things, then raise the basket for carrying things.",
+    "Pick up the white can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Use the same arm to grab the white can, place in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Pick up the can with gold top lid, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Pick up the can with gold top lid, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Pick the can with red-orange text, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Use the left arm to grab the red-orange text on white can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.",
+    "Pick the beverage can with printed label using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Use the left arm to grab the cylindrical white glossy can and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick up the beverage can with printed label, put it into the basket for holding items, and lift the basket for holding items.",
+    "Lift the beverage can with printed label, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Pick the small white can with branding with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Take the can with rounded cylindrical shape, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Lift the white can, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Take the smooth white can with accents, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Hold the cylindrical white glossy can using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the medium metal can using the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Grab the red-orange text on white can, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Lift the can with rounded cylindrical shape, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Place the white can with 3D RADY label inside the basket with loop handle, then lift the basket with loop handle.",
+    "Lift the can with red-orange text, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Take the small white can with branding in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to take the white can, drop it in the brown basket, and lift the brown basket.",
+    "Grab the smooth white can with accents, place it in the woven basket, and then lift the woven basket.",
+    "Lift the can with gold top lid, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Pick up the can with rounded cylindrical shape, put it in the woven basket, and lift the woven basket.",
+    "Grab the medium metal can, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Use the left arm to pick the can with red-orange text, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Use the left arm to grab the can with gold top lid, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to grab the can with gold top lid, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Pick the can with red-orange text with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Take the white can and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the smooth white can with accents, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Grab the small white can with branding, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Grab the can with sealed gold top with the left arm, put it into the brown basket, and lift the brown basket with the other arm.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Grab the red-orange text on white can, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Grab the small white can with branding, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Lift the white can with 3D RADY label, set it in the basket for carrying things, and elevate the basket for carrying things.",
+    "Place the medium metal can in the basket for carrying things and then lift the basket for carrying things.",
+    "Grab and drop the small white can with branding in the basket with loop handle, lift the basket with loop handle.",
+    "Lift the smooth white can with accents with the left arm, set it in the basket with handle, and lift with another arm.",
+    "Place the smooth white can with accents in the light brown oval basket and then use another arm to lift the light brown oval basket.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick the can with rounded cylindrical shape, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the can with red-orange text, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Drop the cylindrical white glossy can into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Pick the can with red-orange text with the left arm, drop it in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the wooden basket with curved handle and lift the wooden basket with curved handle.",
+    "Grab the smooth white can with accents, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Pick up the medium metal can with the left arm, place into the brown basket, the other arm raises the brown basket.",
+    "Use the same arm to grab the small white can with branding, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick up the red-orange text on white can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick up the beverage can with printed label, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Pick the medium metal can, set it in the light brown oval basket, and lift the light brown oval basket upward.",
+    "Use the left arm to grab the can with sealed gold top, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Pick the white can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Use the left arm to grab the white can and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick up the can with sealed gold top, put it into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Lift the smooth white can with accents, drop it into the basket with handle, then carry the basket with handle.",
+    "Pick the can with gold top lid with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Take the can with gold top lid, place it into the woven basket, then lift the woven basket.",
+    "Lift the smooth white can with accents, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Take the white can, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Hold the beverage can with printed label using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick up the smooth white can with accents using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Grab the medium metal can, drop it into the basket for holding items, then use another arm for the basket for holding items.",
+    "Lift the can with gold top lid, put it in the brown basket, and carry the brown basket afterward.",
+    "Place the medium metal can inside the brown basket, then lift the brown basket.",
+    "Lift the white can with 3D RADY label, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Take the small white can with branding in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to take the red-orange text on white can, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab the white can, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Lift the white can, place it in the light brown oval basket, and raise the light brown oval basket.",
+    "Pick up the red-orange text on white can, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the can with rounded cylindrical shape, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Use the left arm to pick the red-orange text on white can, place it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to grab the can with red-orange text, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Pick the medium metal can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Take the small white can with branding and put it in the woven basket, then lift the woven basket.",
+    "Grab the red-orange text on white can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Grab the can with gold top lid, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm."
+  ],
+  "unseen": [
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode41.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf9132913104986919c02130ff6f8f4c5a75d3f
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium metal can, put it in the brown basket, then raise the brown basket.",
+    "Use the left arm to grab the cylindrical white glossy can, place it in the brown basket, and lift the brown basket.",
+    "Take the can with rounded cylindrical shape in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the woven basket, then lift the woven basket.",
+    "Grab the small white can with branding, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Hold the small white can with branding using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick the medium metal can, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the red-orange text on white can, place it into the basket with handle, and lift the basket with handle using the other arm.",
+    "Use the left arm to grab the beverage can with printed label, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Use the left arm to hold the small white can with branding, drop the small white can with branding into the basket with handle, and lift the basket with handle.",
+    "Grab the white can with 3D RADY label, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.",
+    "Pick the smooth white can with accents, set it in the light brown oval basket, and lift the light brown oval basket upward.",
+    "Pick the cylindrical white glossy can with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Grab the cylindrical white glossy can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Take the beverage can with printed label with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Lift the can with rounded cylindrical shape, place it in the basket for carrying things, and raise the basket for carrying things.",
+    "Pick up the can with sealed gold top, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Place the smooth white can with accents in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Grab the beverage can with printed label, drop it into the light brown oval basket, then use another arm for the light brown oval basket.",
+    "Grab the red-orange text on white can, place it in the woven basket, and lift the woven basket upwards.",
+    "Grab the beverage can with printed label, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Lift the can with sealed gold top with the left arm, set it in the basket with loop handle, and lift with another arm.",
+    "Lift the medium metal can, put it in the basket with handle, and carry the basket with handle afterward.",
+    "Pick up the can with sealed gold top with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Lift the can with gold top lid, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Pick up the red-orange text on white can, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Grab the beverage can with printed label with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Lift the red-orange text on white can, drop it into the basket with handle, then carry the basket with handle.",
+    "Take the can with red-orange text, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Pick the can with gold top lid with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick up the medium metal can, set it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Use the left arm to take the red-orange text on white can, drop it in the basket with handle, and lift the basket with handle.",
+    "Place the can with gold top lid in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Pick the medium metal can using the left arm, drop it in the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm for the small white can with branding, place the small white can with branding in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab and drop the medium metal can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.",
+    "Pick up the medium metal can, put it in the light brown oval basket, and lift the light brown oval basket.",
+    "Place the can with sealed gold top inside the basket for holding items, then lift the basket for holding items.",
+    "Pick the cylindrical white glossy can with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Grab the white can with 3D RADY label, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Pick up the smooth white can with accents, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Lift the medium metal can, set it in the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Use the left arm to grab the smooth white can with accents and place in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Take the white can with 3D RADY label and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the white can using the left arm, drop the white can into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.",
+    "Drop the small white can with branding into the light brown oval basket using the left arm, then lift the light brown oval basket with another arm.",
+    "Take the can with red-orange text, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Lift the cylindrical white glossy can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Use the same arm to grab the medium metal can, place in the woven basket, and then lift the woven basket.",
+    "Grab the red-orange text on white can, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Use the left arm to grab the can with red-orange text, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Take the white can with 3D RADY label in the left arm, place it into the basket for holding items, another arm lifts the basket for holding items.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the basket for holding items, then lift the basket for holding items.",
+    "Grab the red-orange text on white can, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Hold the can with rounded cylindrical shape using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick the red-orange text on white can, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the can with red-orange text, place it into the brown basket, and lift the brown basket using the other arm.",
+    "Use the left arm to grab the smooth white can with accents, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Use the left arm to hold the cylindrical white glossy can, drop the cylindrical white glossy can into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the cylindrical white glossy can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.",
+    "Pick the can with gold top lid, set it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upward.",
+    "Pick the can with red-orange text with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Grab the can with red-orange text, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Take the can with sealed gold top with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Lift the white can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Pick up the can with red-orange text, place it into the woven basket, then lift the woven basket.",
+    "Place the beverage can with printed label in the woven basket and then use another arm to lift the woven basket.",
+    "Grab the cylindrical white glossy can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Grab the white can with 3D RADY label, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Grab the cylindrical white glossy can, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Lift the can with red-orange text with the left arm, set it in the basket with loop handle, and lift with another arm.",
+    "Lift the beverage can with printed label, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.",
+    "Pick up the red-orange text on white can with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.",
+    "Lift the small white can with branding, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Pick up the can with gold top lid, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Grab the small white can with branding with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Lift the white can with 3D RADY label, drop it into the brown basket, then carry the brown basket.",
+    "Take the beverage can with printed label, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Pick the smooth white can with accents with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Pick up the can with sealed gold top, set it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Use the left arm to take the medium metal can, drop it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Place the can with red-orange text in the basket with handle and then lift the basket with handle.",
+    "Pick the can with gold top lid using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab and drop the white can with 3D RADY label in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Pick up the small white can with branding, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Place the red-orange text on white can inside the basket with handle, then lift the basket with handle.",
+    "Pick the can with gold top lid with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Grab the white can with 3D RADY label, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, put it into the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the can with gold top lid, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Use the left arm to grab the medium metal can and place in the basket with handle, lift the basket with handle with another arm.",
+    "Take the smooth white can with accents and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the basket made of woven wood and lift the basket made of woven wood.",
+    "Drop the can with sealed gold top into the basket with handle using the left arm, then lift the basket with handle with another arm.",
+    "Take the can with red-orange text, set it into the basket for holding items, and raise the basket for holding items.",
+    "Lift the white can, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Use the same arm to grab the white can, place in the basket made of woven wood, and then lift the basket made of woven wood."
+  ],
+  "unseen": [
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode42.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cd72c3d8468acaf784fc3c6f3394d0d6b666265
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the can with gold top lid, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Drop the red-orange text on white can into the brown basket with woven ridges using the left arm, then lift the brown basket with woven ridges with another arm.",
+    "Lift the medium metal can, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Pick the cylindrical white glossy can, set it in the brown basket, and lift the brown basket upward.",
+    "Pick up the smooth white can with accents, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to grab the medium metal can, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the medium metal can, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Take the can with red-orange text, place it into the woven basket, then lift the woven basket.",
+    "Pick up the white can, set it inside the woven basket, then lift the woven basket.",
+    "Pick the can with rounded cylindrical shape, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the can with sealed gold top, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Grab the can with gold top lid, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.",
+    "Lift the can with sealed gold top, set it in the woven basket, and elevate the woven basket.",
+    "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the basket with loop handle, and lift the basket with loop handle.",
+    "Take the can with sealed gold top in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.",
+    "Grab the white can with 3D RADY label, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Take the white can, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Grab the red-orange text on white can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Place the cylindrical white glossy can in the basket for holding items and then use another arm to lift the basket for holding items.",
+    "Use the left arm to grab the white can with 3D RADY label and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Place the smooth white can with accents in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Pick the can with sealed gold top using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Pick the cylindrical white glossy can with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Grab the white can with 3D RADY label using the left arm, drop the white can with 3D RADY label into the basket for carrying things and lift the basket for carrying things.",
+    "Pick the medium metal can with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Grab and drop the can with red-orange text in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Pick up the medium metal can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the small white can with branding, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.",
+    "Lift the small white can with branding with the left arm, set it in the woven basket, and lift with another arm.",
+    "Pick up the red-orange text on white can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Take the can with gold top lid and put it in the basket with handle, then lift the basket with handle.",
+    "Grab the white can, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Lift the can with red-orange text, put it in the light brown oval basket, and carry the light brown oval basket afterward.",
+    "Grab the white can with 3D RADY label, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Use the left arm to pick the can with rounded cylindrical shape, place it inside the brown basket, then lift the brown basket.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Use the left arm to hold the small white can with branding, drop the small white can with branding into the light brown oval basket, and lift the light brown oval basket.",
+    "Pick the beverage can with printed label with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Hold the can with sealed gold top using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the beverage can with printed label, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.",
+    "Grab the small white can with branding, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Grab the beverage can with printed label with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Pick up the smooth white can with accents, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Use the same arm to grab the small white can with branding, place in the basket with handle, and then lift the basket with handle.",
+    "Place the can with sealed gold top inside the basket for carrying things, then lift the basket for carrying things.",
+    "Pick up the can with rounded cylindrical shape, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the white can, place it inside the woven basket, and elevate the woven basket.",
+    "Lift the medium metal can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.",
+    "Drop the cylindrical white glossy can into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.",
+    "Lift the cylindrical white glossy can, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.",
+    "Pick the red-orange text on white can, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Pick up the can with rounded cylindrical shape, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to grab the can with gold top lid, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Grab the white can, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Take the can with rounded cylindrical shape, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Pick up the medium metal can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick the can with sealed gold top, set it in the basket for holding items, then lift the basket for holding items.",
+    "Lift the white can, place it in the light brown oval basket, and raise the light brown oval basket.",
+    "Grab the can with rounded cylindrical shape, place it in the woven basket, and raise the woven basket using the other arm.",
+    "Lift the can with sealed gold top, set it in the woven basket, and elevate the woven basket.",
+    "Use the left arm for the white can, place the white can in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Take the small white can with branding in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Grab the can with red-orange text, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Take the can with gold top lid, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Grab the cylindrical white glossy can, set it into the woven basket, then raise the woven basket.",
+    "Use the left arm to grab the can with rounded cylindrical shape, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Place the can with red-orange text in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the can with red-orange text and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Place the white can in the brown basket and then lift the brown basket.",
+    "Pick the small white can with branding using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Pick the cylindrical white glossy can with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Grab the white can using the left arm, drop the white can into the basket for carrying things and lift the basket for carrying things.",
+    "Pick the smooth white can with accents with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.",
+    "Grab and drop the white can in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Pick up the white can with 3D RADY label, put it into the woven basket, and lift the woven basket.",
+    "Use the left arm to grab the small white can with branding, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Lift the beverage can with printed label with the left arm, set it in the basket for carrying things, and lift with another arm.",
+    "Pick up the can with gold top lid with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Take the can with rounded cylindrical shape and put it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the small white can with branding, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Use the left arm to take the red-orange text on white can, drop it in the basket with handle, and lift the basket with handle.",
+    "Lift the can with gold top lid, put it in the woven basket, and carry the woven basket afterward.",
+    "Grab the can with red-orange text, put it in the woven basket, then raise the woven basket.",
+    "Use the left arm to pick the can with rounded cylindrical shape, place it inside the woven basket, then lift the woven basket.",
+    "Pick up the can with gold top lid using the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick the small white can with branding with one arm, place it in the basket with handle, and lift the basket with handle using another arm.",
+    "Hold the beverage can with printed label using the left arm, place it in the woven basket, and lift the woven basket.",
+    "Grab the can with rounded cylindrical shape, drop it into the brown basket, then use another arm for the brown basket.",
+    "Grab the smooth white can with accents, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Grab the smooth white can with accents with the left arm, put it into the woven basket, and lift the woven basket with the other arm.",
+    "Take the small white can with branding with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Pick up the small white can with branding, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Use the same arm to grab the white can with 3D RADY label, place in the basket with loop handle, and then lift the basket with loop handle.",
+    "Place the white can with 3D RADY label inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, put it in the light brown oval basket, and lift the light brown oval basket.",
+    "Lift the can with sealed gold top, place it inside the light brown oval basket, and elevate the light brown oval basket."
+  ],
+  "unseen": [
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode43.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d10f239b83cefd09f604d6141b85d315f14fc5
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the beverage can with printed label, place it in the brown basket, and lift the brown basket.",
+    "Lift the cylindrical white glossy can, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Pick up the can with rounded cylindrical shape, put it in the woven basket, and lift the woven basket.",
+    "Place the small white can with branding inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab the cylindrical white glossy can, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Pick the can with red-orange text with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Take the can with gold top lid with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Lift the cylindrical white glossy can, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Pick the small white can with branding using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Pick the can with gold top lid, set it in the basket with handle, then lift the basket with handle.",
+    "Pick the white can with 3D RADY label with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Take the can with gold top lid, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab the cylindrical white glossy can, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.",
+    "Use the left arm to grab the white can with 3D RADY label and place in the woven basket, lift the woven basket with another arm.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the basket with handle and lift the basket with handle.",
+    "Pick up the cylindrical white glossy can, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Pick up the can with sealed gold top, place it in the woven basket, and then lift the woven basket.",
+    "Pick up the red-orange text on white can with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Place the can with sealed gold top in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the basket with handle, and lift the basket with handle with another arm.",
+    "Pick the white can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Lift the medium metal can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Pick the white can with 3D RADY label, set it in the woven basket, and lift the woven basket upward.",
+    "Grab the smooth white can with accents, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Lift the smooth white can with accents with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Grab the can with sealed gold top, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Pick up the white can with 3D RADY label using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to pick the medium metal can, place it inside the brown basket, then lift the brown basket.",
+    "Grab the cylindrical white glossy can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Take the medium metal can, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Lift the can with sealed gold top, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Lift the can with gold top lid, put it in the brown basket, and carry the brown basket afterward.",
+    "Use the left arm to grab the small white can with branding, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Hold the medium metal can using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the can with sealed gold top, set it inside the woven basket, then lift the woven basket.",
+    "Lift the beverage can with printed label, set it in the light brown oval basket, and elevate the light brown oval basket.",
+    "Grab the beverage can with printed label, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Use the left arm to hold the medium metal can, drop the medium metal can into the basket with loop handle, and lift the basket with loop handle.",
+    "Place the beverage can with printed label in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Grab the beverage can with printed label, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Take the medium metal can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the smooth white can with accents with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Use the same arm to grab the red-orange text on white can, place in the basket with loop handle, and then lift the basket with loop handle.",
+    "Pick up the smooth white can with accents, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Take the red-orange text on white can in the left arm, place it into the brown basket, another arm lifts the brown basket.",
+    "Use the left arm for the small white can with branding, place the small white can with branding in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab the white can with 3D RADY label, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Grab and drop the beverage can with printed label in the brown basket, lift the brown basket.",
+    "Drop the beverage can with printed label into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Use the left arm to take the can with red-orange text, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to grab the smooth white can with accents, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Lift the white can with 3D RADY label, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Pick up the can with red-orange text, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Place the can with red-orange text inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the can with gold top lid, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Pick the red-orange text on white can with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Take the white can with the left arm, drop it into the basket with handle, and lift the basket with handle using another arm.",
+    "Lift the beverage can with printed label, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Pick the small white can with branding using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Pick the white can, set it in the basket with handle, then lift the basket with handle.",
+    "Pick the small white can with branding with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Take the white can, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the cylindrical white glossy can, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Use the left arm to grab the beverage can with printed label and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the wooden basket with curved handle and lift the wooden basket with curved handle.",
+    "Pick up the can with red-orange text, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick up the small white can with branding, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Pick up the white can with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Place the can with gold top lid in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the small white can with branding, put it into the light brown oval basket, and lift the light brown oval basket with another arm.",
+    "Pick the can with sealed gold top with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Lift the can with gold top lid, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Pick the medium metal can, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Grab the beverage can with printed label, set it into the brown basket, then raise the brown basket.",
+    "Lift the can with gold top lid with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.",
+    "Grab the red-orange text on white can, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Pick up the medium metal can using the left arm, drop it into the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Use the left arm to pick the white can, place it inside the brown basket, then lift the brown basket.",
+    "Grab the red-orange text on white can, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Take the white can with 3D RADY label, set it into the basket for holding items, and raise the basket for holding items.",
+    "Lift the cylindrical white glossy can, place it in the woven basket, and raise the woven basket.",
+    "Lift the can with red-orange text, put it in the woven basket, and carry the woven basket afterward.",
+    "Use the left arm to grab the can with red-orange text, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.",
+    "Hold the beverage can with printed label using the left arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick up the beverage can with printed label, set it inside the basket with handle, then lift the basket with handle.",
+    "Lift the white can with 3D RADY label, set it in the basket for carrying things, and elevate the basket for carrying things.",
+    "Grab the can with gold top lid, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.",
+    "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the light brown oval basket, and lift the light brown oval basket.",
+    "Place the white can with 3D RADY label in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Grab the red-orange text on white can, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Take the white can with 3D RADY label and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Grab the medium metal can with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the basket for holding items, and then lift the basket for holding items.",
+    "Pick up the can with sealed gold top, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Take the medium metal can in the left arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.",
+    "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the small white can with branding, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Grab and drop the red-orange text on white can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.",
+    "Drop the can with sealed gold top into the woven basket using the left arm, then lift the woven basket with another arm.",
+    "Use the left arm to take the beverage can with printed label, drop it in the basket made of woven wood, and lift the basket made of woven wood."
+  ],
+  "unseen": [
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode44.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7ef0e46e3e5b6be5d9249407221cc0285ab097b
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the can with gold top lid and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Pick up the red-orange text on white can, place it into the basket with handle, then lift the basket with handle.",
+    "Lift the can with gold top lid, set it in the brown basket, and elevate the brown basket.",
+    "Grab the small white can with branding, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Place the small white can with branding inside the woven basket, then lift the woven basket.",
+    "Grab the white can, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.",
+    "Take the medium metal can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Grab the can with red-orange text, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Use the left arm to grab the beverage can with printed label, place it into the basket with handle, and lift the basket with handle using the other arm.",
+    "Pick the can with sealed gold top using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Lift the smooth white can with accents, place it inside the basket for holding items, and elevate the basket for holding items.",
+    "Pick the beverage can with printed label with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Take the can with gold top lid, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Use the left arm to hold the white can with 3D RADY label, drop the white can with 3D RADY label into the basket with handle, and lift the basket with handle.",
+    "Use the left arm to pick the medium metal can, place it inside the brown basket, then lift the brown basket.",
+    "Lift the red-orange text on white can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.",
+    "Grab the can with sealed gold top, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Grab the smooth white can with accents, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Pick the can with gold top lid, set it in the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the red-orange text on white can, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick up the small white can with branding with the left arm, place into the brown basket, the other arm raises the brown basket.",
+    "Lift the can with red-orange text, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Pick up the white can with 3D RADY label, put it into the basket with handle, and lift the basket with handle.",
+    "Grab and drop the cylindrical white glossy can in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.",
+    "Take the can with gold top lid and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Place the small white can with branding in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Use the left arm to take the can with rounded cylindrical shape, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick up the can with gold top lid, set it inside the basket with handle, then lift the basket with handle.",
+    "Use the left arm to grab the can with sealed gold top, put it into the brown basket, and lift the brown basket with another arm.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the same arm to grab the can with red-orange text, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick the white can with 3D RADY label with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Pick up the can with gold top lid, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Use the left arm for the medium metal can, place the medium metal can in the brown basket, and lift the brown basket.",
+    "Grab the can with red-orange text, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Use the left arm to grab the can with red-orange text, place it in the basket for holding items, and lift the basket for holding items.",
+    "Pick the small white can with branding with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Take the can with red-orange text with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.",
+    "Lift the red-orange text on white can, place it in the woven basket, and raise the woven basket.",
+    "Hold the medium metal can using the left arm, place it in the basket for holding items, and lift the basket for holding items.",
+    "Place the can with rounded cylindrical shape in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Lift the can with gold top lid with the left arm, set it in the brown basket, and lift with another arm.",
+    "Lift the white can, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Pick the medium metal can, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Pick up the white can with 3D RADY label, put it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the can with gold top lid, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Take the medium metal can, place it into the woven basket, then lift the woven basket.",
+    "Drop the can with rounded cylindrical shape into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Use the left arm to grab the small white can with branding and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick up the can with rounded cylindrical shape, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Lift the cylindrical white glossy can, set it in the basket with loop handle, and elevate the basket with loop handle.",
+    "Grab the can with sealed gold top, place it in the basket with handle, and raise the basket with handle using the other arm.",
+    "Place the white can inside the woven basket, then lift the woven basket.",
+    "Grab the small white can with branding, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Take the can with rounded cylindrical shape in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.",
+    "Grab the smooth white can with accents, drop it into the woven basket, then use another arm for the woven basket.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the wooden basket with curved handle, and lift the wooden basket with curved handle using the other arm.",
+    "Pick the small white can with branding using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Lift the can with sealed gold top, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Pick the can with sealed gold top with the left arm, drop it in the woven basket, lift the woven basket with another arm.",
+    "Take the can with red-orange text, set it into the basket for carrying things, and raise the basket for carrying things.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to pick the can with rounded cylindrical shape, place it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Lift the can with red-orange text, put it in the basket with handle, and carry the basket with handle afterward.",
+    "Grab the smooth white can with accents, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Grab the can with rounded cylindrical shape, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.",
+    "Pick the beverage can with printed label, set it in the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the can with rounded cylindrical shape, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick up the beverage can with printed label with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Lift the smooth white can with accents, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.",
+    "Pick up the white can, put it into the light brown oval basket, and lift the light brown oval basket.",
+    "Grab and drop the beverage can with printed label in the light brown oval basket, lift the light brown oval basket.",
+    "Take the medium metal can and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Place the smooth white can with accents in the light brown oval basket and then use another arm to lift the light brown oval basket.",
+    "Use the left arm to take the medium metal can, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Pick up the white can with 3D RADY label, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to grab the can with gold top lid, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Grab the red-orange text on white can with the left arm, put it into the brown basket, and lift the brown basket with the other arm.",
+    "Use the same arm to grab the can with gold top lid, place in the brown basket, and then lift the brown basket.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Pick up the can with sealed gold top, place it in the woven basket, and then lift the woven basket.",
+    "Use the left arm for the small white can with branding, place the small white can with branding in the woven basket, and lift the woven basket.",
+    "Grab the can with sealed gold top, put it in the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Pick up the red-orange text on white can using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to grab the can with sealed gold top, place it in the brown basket, and lift the brown basket.",
+    "Pick the can with sealed gold top with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Take the medium metal can with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the woven basket and lift the woven basket.",
+    "Lift the smooth white can with accents, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Hold the can with sealed gold top using the left arm, place it in the basket with loop handle, and lift the basket with loop handle.",
+    "Place the white can in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Lift the small white can with branding with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.",
+    "Lift the red-orange text on white can, drop it into the woven basket, then carry the woven basket.",
+    "Pick the medium metal can, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Pick up the small white can with branding, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the can with rounded cylindrical shape, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Take the small white can with branding, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Drop the cylindrical white glossy can into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm."
+  ],
+  "unseen": [
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode45.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1ccd2bfef4929b8d85372db1222c5b81bebf57
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the can with gold top lid in the left arm, place it into the brown basket, another arm lifts the brown basket.",
+    "Grab the small white can with branding, drop it into the brown basket, and raise the brown basket.",
+    "Use the same arm to grab the red-orange text on white can, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Grab the small white can with branding, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.",
+    "Grab the small white can with branding, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Grab the cylindrical white glossy can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Grab the white can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Use the left arm to grab the can with red-orange text, put it into the light brown oval basket, and lift the light brown oval basket with another arm.",
+    "Pick up the white can, place it into the woven basket, then lift the woven basket.",
+    "Lift the white can, set it in the brown basket, and elevate the brown basket.",
+    "Lift the smooth white can with accents, place it in the basket for carrying things, and raise the basket for carrying things.",
+    "Use the left arm to take the white can, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Place the smooth white can with accents in the basket for carrying things and then lift the basket for carrying things.",
+    "Lift the can with red-orange text, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Hold the can with gold top lid using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the brown basket with woven ridges and lift the brown basket with woven ridges.",
+    "Pick the red-orange text on white can with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Take the cylindrical white glossy can, set it into the basket with loop handle, and raise the basket with loop handle.",
+    "Lift the medium metal can, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Take the white can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the cylindrical white glossy can, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Pick up the can with gold top lid, put it into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Lift the white can with the left arm, set it in the brown basket, and lift with another arm.",
+    "Pick the white can with 3D RADY label, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick the medium metal can using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Pick the smooth white can with accents, set it in the basket with handle, and lift the basket with handle upward.",
+    "Use the left arm to hold the can with red-orange text, drop the can with red-orange text into the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the can with gold top lid, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Place the medium metal can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Place the medium metal can in the basket with handle and then use another arm to lift the basket with handle.",
+    "Drop the white can into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Grab the can with rounded cylindrical shape, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Grab the smooth white can with accents, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.",
+    "Pick the can with gold top lid with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Pick up the can with gold top lid using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the woven basket, and lift the woven basket with the other arm.",
+    "Take the beverage can with printed label with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Pick up the cylindrical white glossy can with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Use the left arm for the small white can with branding, place the small white can with branding in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Pick up the red-orange text on white can, place it in the basket with handle, and then lift the basket with handle.",
+    "Use the left arm to grab the small white can with branding, place it in the basket for holding items, and lift the basket for holding items.",
+    "Grab and drop the red-orange text on white can in the woven basket, lift the woven basket.",
+    "Grab the can with red-orange text, place it in the basket with handle, and lift the basket with handle upwards.",
+    "Lift the can with rounded cylindrical shape, place it inside the woven basket, and elevate the woven basket.",
+    "Use the left arm to grab the beverage can with printed label, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.",
+    "Use the left arm to grab the cylindrical white glossy can and place in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Use the left arm to pick the red-orange text on white can, place it inside the woven basket, then lift the woven basket.",
+    "Pick up the can with rounded cylindrical shape, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Take the red-orange text on white can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Take the medium metal can in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Grab the smooth white can with accents, drop it into the brown basket, and raise the brown basket.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the can with sealed gold top, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.",
+    "Grab the can with rounded cylindrical shape, place it in the basket with handle, and raise the basket with handle using the other arm.",
+    "Grab the can with sealed gold top, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the small white can with branding, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Use the left arm to grab the red-orange text on white can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.",
+    "Pick up the cylindrical white glossy can, place it into the basket for holding items, then lift the basket for holding items.",
+    "Lift the can with red-orange text, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Lift the medium metal can, place it in the light brown oval basket, and raise the light brown oval basket.",
+    "Use the left arm to take the beverage can with printed label, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Place the can with sealed gold top in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Lift the can with rounded cylindrical shape, put it in the basket with handle, and carry the basket with handle afterward.",
+    "Hold the red-orange text on white can using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the medium metal can using the left arm, drop the medium metal can into the basket made of woven wood and lift the basket made of woven wood.",
+    "Pick the can with gold top lid with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Take the can with sealed gold top, set it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Lift the can with sealed gold top, drop it into the brown basket, then carry the brown basket.",
+    "Take the can with gold top lid and put it in the basket for carrying things, then lift the basket for carrying things.",
+    "Lift the small white can with branding, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Pick up the small white can with branding, put it into the basket for holding items, and lift the basket for holding items.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the smooth ribbed light brown basket, and lift with another arm.",
+    "Pick the white can, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick the medium metal can using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Pick the smooth white can with accents, set it in the basket with handle, and lift the basket with handle upward.",
+    "Use the left arm to hold the beverage can with printed label, drop the beverage can with printed label into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick up the beverage can with printed label, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Place the can with red-orange text inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Place the cylindrical white glossy can in the basket with handle and then use another arm to lift the basket with handle.",
+    "Drop the beverage can with printed label into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Grab the small white can with branding, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Grab the can with sealed gold top, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Pick the medium metal can with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Pick up the small white can with branding using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Take the smooth white can with accents with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Pick up the medium metal can with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the basket with handle, and lift the basket with handle.",
+    "Pick up the medium metal can, place it in the basket with handle, and then lift the basket with handle.",
+    "Use the left arm to grab the medium metal can, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Grab and drop the red-orange text on white can in the basket for carrying things, lift the basket for carrying things.",
+    "Grab the red-orange text on white can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Lift the can with gold top lid, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Use the left arm to grab the red-orange text on white can, place it into the brown basket, and lift the brown basket using the other arm.",
+    "Use the left arm to grab the can with red-orange text and place in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Use the left arm to pick the can with rounded cylindrical shape, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Pick up the can with red-orange text, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Take the can with red-orange text, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode46.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06333fc961f9d2cb0881a09ba8ef03c631b4e9a
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red-orange text on white can, set it into the basket with handle, and raise the basket with handle.",
+    "Pick up the white can with 3D RADY label, set it inside the brown basket, then lift the brown basket.",
+    "Pick the can with red-orange text, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Use the left arm to grab the white can and place in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Grab the can with sealed gold top, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Grab the can with rounded cylindrical shape, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.",
+    "Pick up the can with red-orange text with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Lift the smooth white can with accents, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Pick the can with red-orange text using the left arm, drop it in the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Take the can with rounded cylindrical shape and put it in the basket with handle, then lift the basket with handle.",
+    "Pick the smooth white can with accents with one arm, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Lift the cylindrical white glossy can, place it in the brown basket, pick up the brown basket afterward.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Use the left arm to hold the medium metal can, drop the medium metal can into the basket for holding items, and lift the basket for holding items.",
+    "Grab the white can with 3D RADY label, drop it into the basket with handle, and raise the basket with handle.",
+    "Drop the can with gold top lid into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.",
+    "Take the can with gold top lid with the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Place the white can with 3D RADY label in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Grab the white can using the left arm, drop the white can into the basket with loop handle and lift the basket with loop handle.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Grab the red-orange text on white can with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Use the left arm to grab the smooth white can with accents, place it in the basket with handle, and lift the basket with handle.",
+    "Pick up the can with red-orange text, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the can with sealed gold top, set it into the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Use the left arm to take the can with sealed gold top, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick the cylindrical white glossy can with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Pick the can with gold top lid, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to grab the medium metal can, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Lift the can with red-orange text with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Pick up the beverage can with printed label, put it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab and drop the can with rounded cylindrical shape in the basket with loop handle, lift the basket with loop handle.",
+    "Place the cylindrical white glossy can in the woven basket and then use another arm to lift the woven basket.",
+    "Use the left arm for the can with sealed gold top, place the can with sealed gold top in the light brown oval basket, and lift the light brown oval basket.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Take the small white can with branding, place it into the basket with handle, then lift the basket with handle.",
+    "Grab the red-orange text on white can, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Pick up the white can with 3D RADY label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Lift the cylindrical white glossy can, set it in the basket with loop handle, and elevate the basket with loop handle.",
+    "Use the same arm to grab the can with red-orange text, place in the basket for holding items, and then lift the basket for holding items.",
+    "Grab the small white can with branding, place it in the brown basket, and lift the brown basket upwards.",
+    "Place the white can with 3D RADY label inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the can with red-orange text, place it in the basket with handle, and then lift the basket with handle.",
+    "Hold the smooth white can with accents using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Grab the beverage can with printed label, drop it into the brown basket, then use another arm for the brown basket.",
+    "Pick up the beverage can with printed label, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Take the red-orange text on white can in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.",
+    "Lift the medium metal can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Lift the small white can with branding, drop it into the brown basket, then carry the brown basket.",
+    "Lift the can with gold top lid, place it inside the basket for holding items, and elevate the basket for holding items.",
+    "Take the white can with 3D RADY label, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Pick up the smooth white can with accents, set it inside the basket with handle, then lift the basket with handle.",
+    "Pick the medium metal can, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Use the left arm to grab the can with gold top lid and place in the woven basket, lift the woven basket with another arm.",
+    "Grab the can with rounded cylindrical shape, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Grab the beverage can with printed label, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket with the other arm.",
+    "Pick up the can with gold top lid with the left arm, place into the oval-shaped basket with woven body, the other arm raises the oval-shaped basket with woven body.",
+    "Lift the white can with 3D RADY label, place it in the woven basket, and raise the woven basket.",
+    "Pick the smooth white can with accents using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Take the small white can with branding and put it in the woven basket, then lift the woven basket.",
+    "Pick the white can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Lift the can with sealed gold top, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Pick the white can with 3D RADY label with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the can with gold top lid, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Drop the red-orange text on white can into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Place the can with red-orange text in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the basket for holding items and lift the basket for holding items.",
+    "Use the left arm to grab the medium metal can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.",
+    "Grab the can with red-orange text with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Pick up the white can using the left arm, drop it into the woven basket, and lift the woven basket with the other arm.",
+    "Use the left arm to grab the white can with 3D RADY label, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick up the medium metal can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Grab the can with rounded cylindrical shape, set it into the basket with loop handle, then raise the basket with loop handle.",
+    "Use the left arm to take the beverage can with printed label, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick the can with gold top lid with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick the can with rounded cylindrical shape, set it in the light brown oval basket, then lift the light brown oval basket.",
+    "Use the left arm to grab the can with sealed gold top, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the basket with loop handle, and lift with another arm.",
+    "Pick up the white can, put it in the brown basket, and lift the brown basket.",
+    "Grab and drop the medium metal can in the light brown oval basket, lift the light brown oval basket.",
+    "Place the white can in the brown basket with woven ridges and then use another arm to lift the brown basket with woven ridges.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to pick the beverage can with printed label, place it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Take the can with sealed gold top, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the can with rounded cylindrical shape, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Pick up the white can with 3D RADY label, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Lift the white can, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Use the same arm to grab the white can, place in the woven basket, and then lift the woven basket.",
+    "Grab the can with red-orange text, place it in the woven basket, and lift the woven basket upwards.",
+    "Place the white can with 3D RADY label inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the can with rounded cylindrical shape, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Hold the can with gold top lid using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab the red-orange text on white can, drop it into the brown basket, then use another arm for the brown basket.",
+    "Pick up the small white can with branding, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Take the can with rounded cylindrical shape in the left arm, place it into the smooth ribbed light brown basket, another arm lifts the smooth ribbed light brown basket.",
+    "Lift the can with red-orange text, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.",
+    "Lift the can with rounded cylindrical shape, drop it into the basket with handle, then carry the basket with handle.",
+    "Lift the can with gold top lid, place it inside the basket with loop handle, and elevate the basket with loop handle."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode47.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..5166f8ff5c6fd590516c5760e7e681464da10f9b
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium metal can, put it in the brown basket, and lift the brown basket.",
+    "Pick up the can with rounded cylindrical shape, put it into the basket for holding items, and lift the basket for holding items.",
+    "Lift the can with rounded cylindrical shape, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Use the same arm to grab the can with gold top lid, place in the basket for holding items, and then lift the basket for holding items.",
+    "Use the left arm to grab the can with red-orange text, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Place the can with rounded cylindrical shape inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Grab the white can with 3D RADY label, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Grab and drop the beverage can with printed label in the light brown oval basket, lift the light brown oval basket.",
+    "Take the white can, set it into the woven basket, and raise the woven basket.",
+    "Lift the beverage can with printed label, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Drop the smooth white can with accents into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Place the can with rounded cylindrical shape in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Grab the white can, put it in the woven basket, then raise the woven basket.",
+    "Place the can with red-orange text in the light brown oval basket and then lift the light brown oval basket.",
+    "Pick up the medium metal can, place it in the basket with handle, and then lift the basket with handle.",
+    "Pick up the white can with 3D RADY label with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Take the smooth white can with accents, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick up the can with gold top lid, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to grab the can with red-orange text, place it into the woven basket, and lift the woven basket using the other arm.",
+    "Pick the medium metal can using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Use the left arm to pick the white can, place it inside the basket with handle, then lift the basket with handle.",
+    "Hold the can with red-orange text using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Lift the medium metal can, set it in the basket with handle, and elevate the basket with handle.",
+    "Lift the can with red-orange text, place it in the basket with handle, and raise the basket with handle.",
+    "Pick up the can with red-orange text, set it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Grab the medium metal can, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the can with red-orange text with the left arm, put it into the woven basket, and lift the woven basket with the other arm.",
+    "Grab the can with rounded cylindrical shape, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Grab the beverage can with printed label, place it in the brown basket, and lift the brown basket upwards.",
+    "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the basket made of woven wood and lift the basket made of woven wood.",
+    "Take the cylindrical white glossy can and put it in the basket with handle, then lift the basket with handle.",
+    "Pick the beverage can with printed label with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to take the can with red-orange text, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the medium metal can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.",
+    "Grab the small white can with branding, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Take the cylindrical white glossy can in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Pick the smooth white can with accents, set it in the woven basket, then lift the woven basket.",
+    "Lift the can with rounded cylindrical shape with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Lift the white can with 3D RADY label, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Grab the medium metal can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Pick up the beverage can with printed label using the left arm, drop it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Use the left arm to grab the can with rounded cylindrical shape and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Pick the white can with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Pick the smooth white can with accents, set it in the basket made of woven wood, and lift the basket made of woven wood upward.",
+    "Grab the white can with 3D RADY label, drop it into the basket with handle, and raise the basket with handle with the other arm.",
+    "Use the left arm for the medium metal can, place the medium metal can in the brown basket, and lift the brown basket.",
+    "Pick the can with gold top lid with the left arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Pick up the white can, put it in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick up the beverage can with printed label, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Lift the cylindrical white glossy can, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Use the same arm to grab the beverage can with printed label, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Use the left arm to grab the red-orange text on white can, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Place the red-orange text on white can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Take the beverage can with printed label with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the can with rounded cylindrical shape, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Grab and drop the medium metal can in the basket for holding items, lift the basket for holding items.",
+    "Take the red-orange text on white can, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Lift the red-orange text on white can, place it inside the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Drop the white can into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Place the white can with 3D RADY label in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Grab the beverage can with printed label, put it in the basket with handle, then raise the basket with handle.",
+    "Place the smooth white can with accents in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Pick up the white can with 3D RADY label, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Pick up the cylindrical white glossy can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Take the medium metal can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the white can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to grab the can with rounded cylindrical shape, place it into the woven basket, and lift the woven basket using the other arm.",
+    "Pick the medium metal can using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Use the left arm to pick the can with red-orange text, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Hold the white can with 3D RADY label using the left arm, place it in the basket with handle, and lift the basket with handle.",
+    "Lift the medium metal can, set it in the basket for carrying things, and elevate the basket for carrying things.",
+    "Lift the smooth white can with accents, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Pick up the beverage can with printed label, set it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the beverage can with printed label, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Grab the small white can with branding with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Grab the beverage can with printed label, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Grab the cylindrical white glossy can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Grab the can with rounded cylindrical shape using the left arm, drop the can with rounded cylindrical shape into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.",
+    "Take the medium metal can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick the smooth white can with accents with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Use the left arm to hold the small white can with branding, drop the small white can with branding into the basket with loop handle, and lift the basket with loop handle.",
+    "Use the left arm to take the can with rounded cylindrical shape, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Lift the smooth white can with accents, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Grab the cylindrical white glossy can, drop it into the light brown oval basket, then use another arm for the light brown oval basket.",
+    "Take the white can in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with sealed gold top, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Pick the can with rounded cylindrical shape, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Lift the can with sealed gold top with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Lift the red-orange text on white can, put it in the brown basket with woven ridges, and carry the brown basket with woven ridges afterward.",
+    "Grab the smooth white can with accents, place it in the woven basket, and raise the woven basket using the other arm.",
+    "Pick up the medium metal can using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Use the left arm to grab the small white can with branding and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick the beverage can with printed label with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Pick the medium metal can, set it in the basket with handle, and lift the basket with handle upward.",
+    "Grab the can with rounded cylindrical shape, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.",
+    "Use the left arm for the white can, place the white can in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick the smooth white can with accents with the left arm, drop it in the brown basket, lift the brown basket with another arm."
+  ],
+  "unseen": [
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode49.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e5a2f81e038cbf42dc1574f0cfc86c8c2e16088
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium metal can, put it into the basket for holding items, and lift the basket for holding items.",
+    "Pick up the can with red-orange text, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick the can with gold top lid, set it in the basket for carrying things, and lift the basket for carrying things upward.",
+    "Grab the can with red-orange text, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Use the left arm to grab the medium metal can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Pick the small white can with branding with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Take the white can with 3D RADY label with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Place the smooth white can with accents in the brown basket and then use another arm to lift the brown basket.",
+    "Pick the beverage can with printed label using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab the cylindrical white glossy can, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Pick up the smooth white can with accents, place it into the brown basket, then lift the brown basket.",
+    "Use the left arm to grab the white can with 3D RADY label, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab the small white can with branding, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.",
+    "Pick up the smooth white can with accents, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Pick the smooth white can with accents, set it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the can with gold top lid with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Take the smooth white can with accents and put it in the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to grab the can with rounded cylindrical shape, place it into the light brown oval basket, and lift the light brown oval basket using the other arm.",
+    "Place the smooth white can with accents in the basket with loop handle and then lift the basket with loop handle.",
+    "Lift the beverage can with printed label with the left arm, set it in the basket for carrying things, and lift with another arm.",
+    "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the brown basket with woven ridges and lift the brown basket with woven ridges.",
+    "Grab the white can, drop it into the woven basket, and raise the woven basket with the other arm.",
+    "Pick up the white can with 3D RADY label with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.",
+    "Place the smooth white can with accents inside the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the white can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Grab and drop the smooth white can with accents in the brown basket with woven ridges, lift the brown basket with woven ridges.",
+    "Take the beverage can with printed label, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the beverage can with printed label, put it in the light brown oval basket, and lift the light brown oval basket.",
+    "Take the white can with 3D RADY label, place it into the brown basket, then lift the brown basket.",
+    "Grab the white can with 3D RADY label, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.",
+    "Lift the can with red-orange text, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Lift the can with gold top lid, place it in the basket for holding items, pick up the basket for holding items afterward.",
+    "Pick up the smooth white can with accents using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the brown basket, and lift the brown basket.",
+    "Pick the smooth white can with accents with the left arm, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Take the medium metal can in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.",
+    "Use the left arm to grab the can with sealed gold top and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Grab the red-orange text on white can, place it in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Drop the medium metal can into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Lift the medium metal can, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Grab the cylindrical white glossy can, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Grab the medium metal can, set it into the basket with loop handle, then raise the basket with loop handle.",
+    "Hold the cylindrical white glossy can using the left arm, place it in the light brown oval basket, and lift the light brown oval basket.",
+    "Lift the white can with 3D RADY label, place it inside the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Lift the can with sealed gold top, set it in the brown basket, and elevate the brown basket.",
+    "Use the same arm to grab the can with gold top lid, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Use the left arm to take the can with red-orange text, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick up the can with rounded cylindrical shape, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the can with sealed gold top, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick the can with sealed gold top, set it in the basket made of woven wood, and lift the basket made of woven wood upward.",
+    "Grab the smooth white can with accents, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Pick the smooth white can with accents with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Use the left arm to grab the can with red-orange text, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Pick the can with red-orange text with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.",
+    "Take the small white can with branding with the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Place the can with red-orange text in the woven basket and then use another arm to lift the woven basket.",
+    "Pick the can with red-orange text using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Grab the can with red-orange text, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick up the medium metal can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to grab the can with rounded cylindrical shape, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the can with sealed gold top, place it in the basket for holding items, and lift the basket for holding items upwards.",
+    "Pick up the can with red-orange text, place it in the woven basket, and then lift the woven basket.",
+    "Pick the can with gold top lid, set it in the woven basket, then lift the woven basket.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Take the red-orange text on white can and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with red-orange text, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Place the can with rounded cylindrical shape in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Lift the white can with 3D RADY label with the left arm, set it in the wooden basket with curved handle, and lift with another arm.",
+    "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the brown basket with woven ridges and lift the brown basket with woven ridges.",
+    "Grab the red-orange text on white can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.",
+    "Pick up the can with gold top lid with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Place the beverage can with printed label inside the basket with loop handle, then lift the basket with loop handle.",
+    "Lift the cylindrical white glossy can, place it in the basket with handle, and raise the basket with handle.",
+    "Grab and drop the can with rounded cylindrical shape in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket.",
+    "Take the small white can with branding, set it into the brown basket, and raise the brown basket.",
+    "Use the left arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Pick up the cylindrical white glossy can, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Take the can with rounded cylindrical shape, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the smooth white can with accents, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Lift the cylindrical white glossy can, drop it into the basket with loop handle, then carry the basket with loop handle.",
+    "Lift the small white can with branding, place it in the woven basket, pick up the woven basket afterward.",
+    "Pick up the smooth white can with accents using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Use the left arm to hold the smooth white can with accents, drop the smooth white can with accents into the basket for carrying things, and lift the basket for carrying things.",
+    "Pick the beverage can with printed label with the left arm, set it in the basket with handle, and lift the basket with handle using another arm.",
+    "Take the smooth white can with accents in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Use the left arm to grab the smooth white can with accents and place in the basket with loop handle, lift the basket with loop handle with another arm.",
+    "Grab the cylindrical white glossy can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Drop the smooth white can with accents into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Lift the white can with 3D RADY label, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Grab the white can with 3D RADY label, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Grab the can with red-orange text, set it into the basket for holding items, then raise the basket for holding items.",
+    "Hold the medium metal can using the left arm, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Lift the beverage can with printed label, place it inside the basket for carrying things, and elevate the basket for carrying things.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the basket with handle, then lift the basket with handle.",
+    "Lift the white can, set it in the brown basket with woven ridges, and elevate the brown basket with woven ridges.",
+    "Use the same arm to grab the white can with 3D RADY label, place in the brown basket, and then lift the brown basket.",
+    "Use the left arm to take the can with red-orange text, drop it in the brown basket, and lift the brown basket."
+  ],
+  "unseen": [
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/scene_info.json b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1794111672e64a024fe69bcac01d2de6d25a2f75
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/scene_info.json
@@ -0,0 +1,16302 @@
+{
+    "episode_0": {
+        "robotwin_gen": {
+            "pose_region": null,
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.0,
+                                0.0
+                            ],
+                            "ylim": [
+                                0.0,
+                                0.0
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.3,
+                                0.3
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.7853981633974483,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.02,
+                                0.02
+                            ],
+                            "ylim": [
+                                -0.07,
+                                -0.07
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                0.0,
+                                0.1
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.5235987755982988,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.1,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0,
+                                1.0471975511965976
+                            ]
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.02,
+                                0.02
+                            ],
+                            "ylim": [
+                                -0.07,
+                                -0.07
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                -0.1,
+                                0.1
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.5235987755982988,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                0.03,
+                                0.23
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                1,
+                                0
+                            ]
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.05,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.03,
+                                0.23
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                1,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                0.25
+                            ],
+                            "ylim": [
+                                -0.2,
+                                0.0
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.7,
+                                0
+                            ]
+                        }
+                    }
+                }
+            },
+            "suite": "spatial",
+            "split": "train",
+            "f1": "task_semantics",
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+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.3,
+                                0.3
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.7853981633974483,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.02,
+                                0.02
+                            ],
+                            "ylim": [
+                                -0.07,
+                                -0.07
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                0.0,
+                                0.1
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.5235987755982988,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.1,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0,
+                                1.0471975511965976
+                            ]
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.02,
+                                0.02
+                            ],
+                            "ylim": [
+                                -0.07,
+                                -0.07
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                -0.1,
+                                0.1
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.5235987755982988,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                0.03,
+                                0.23
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                1,
+                                0
+                            ]
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.05,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.03,
+                                0.23
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                1,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                0.25
+                            ],
+                            "ylim": [
+                                -0.2,
+                                0.0
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.7,
+                                0
+                            ]
+                        }
+                    }
+                }
+            },
+            "suite": "spatial",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "place_can_basket",
+            "f2": "main_object_pose_region",
+            "f2_value": "default_region",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "default_region",
+            "fixed_factors": [
+                "language templates",
+                "visual domain",
+                "lighting",
+                "distractors",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "071_can/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "left"
+        }
+    }
+}
\ No newline at end of file
diff --git a/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/seed.txt b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7059d9bd0de560e817220145d42871eb3def13bc
--- /dev/null
+++ b/spatial/train/place_can_basket/rtgen_spatial_train_place_can_basket_default_region/seed.txt
@@ -0,0 +1 @@
+1280317876 1998135674 1999665318 1523848722 1522506602 1118845545 999650742 1327343057 1779833943 1313669221 1932027719 262902412 762829732 1269748838 1060195813 761342394 537283530 856951695 832328109 1241276363 625272647 55444561 835980691 1135266934 1547137893 46223272 1704047416 515371604 687563690 521544895 1491356799 135038448 1129720673 666503554 2121423693 2096703252 1432764209 53597972 347988502 23395715 2130667444 1679337189 802585667 1386915210 39974486 1587706388 304223005 1550092911 640046003 1622810240 
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode0.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f0f9e2c96307ff87e6d4640ee702ec0c5f61c76
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the playingcards box with white symbols in the basket with handle and pull the basket with handle away.",
+    "Lift the rectangular blue playingcards case, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Use one arm to place the blue pack holding playingcards in the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the smooth ribbed light brown basket.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle.",
+    "Use one arm to grab the box of playingcards, place it in the brown basket, then move the brown basket.",
+    "Grab the card box with golden designs, drop it in the brown basket, shift the brown basket.",
+    "Grab the rectangular blue playingcards case and drop it in the basket with handle.",
+    "Put the palm-sized playingcards carton in the basket for holding items, then move the basket for holding items away slightly.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the basket for carrying things.",
+    "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.",
+    "Use one arm to place the smooth playingcards holder in the basket with loop handle, adjust the basket with loop handle.",
+    "Set the smooth playingcards holder in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick up the box of playingcards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Pick the rectangular blue playingcards case, put it inside the brown basket with woven ridges.",
+    "Place the blue playingcards box in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the playingcards box with white symbols, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "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 smooth ribbed light brown basket, then move 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.",
+    "Grab the card box with golden designs, place it in the brown basket, then move the brown basket away.",
+    "Grab the card box with golden designs, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the blue and white playingcards packaging and set it inside the brown basket.",
+    "Take the rectangular blue playingcards case, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick and move the playingcards pack with blue top, then shift the brown basket with woven ridges.",
+    "Take the box of playingcards, put the box of playingcards into the woven basket, shift the woven basket.",
+    "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.",
+    "Pick up the smooth playingcards holder, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Lift the card box with golden designs, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "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 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.",
+    "Place the card box with golden designs into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the blue pack holding playingcards, drop in the basket for holding items, and move the basket for holding items.",
+    "Put the blue carton for playingcards in the basket with handle and pull the basket with handle away.",
+    "Lift the small playingcards container, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Use one arm to place the palm-sized playingcards carton in the woven basket.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket with loop handle.",
+    "Pick the small playingcards container, place it in the basket for holding items.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the blue pack holding playingcards, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the blue playingcards box and drop it in 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.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the oval-shaped basket with woven body.",
+    "Lift the small playingcards container using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with loop handle, adjust the basket with loop handle.",
+    "Set the blue pack holding playingcards in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick up the playingcards box with white symbols, put it in the woven basket, shift the woven basket a little.",
+    "Pick the card box with golden designs, put it inside the basket with handle.",
+    "Place the blue pack holding playingcards in the basket made of woven wood, then 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 blue carton for playingcards, set it into the brown basket with woven ridges.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket, then move the brown basket.",
+    "Pick the box of playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Grab the palm-sized playingcards carton, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Grab the blue and white playingcards packaging, 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 basket made of woven wood.",
+    "Take the blue carton for playingcards, set it in the basket with handle, shift the basket with handle lightly.",
+    "Pick and move the blue carton for playingcards, 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 made of woven wood, shift the basket made of woven wood.",
+    "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.",
+    "Pick up the blue carton for playingcards, place it in the brown basket, grab the brown basket.",
+    "Lift the card box with golden designs, place it into the basket for holding items, move the basket for holding items.",
+    "Move the card box with golden designs to the woven basket, then shift the woven basket.",
+    "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.",
+    "Place the blue and white playingcards packaging into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Grab the blue playingcards box, drop in the basket with handle, and move the basket with handle.",
+    "Put the blue and white playingcards packaging in the basket with loop handle and pull the basket with loop handle away.",
+    "Lift the card box with golden designs, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Use one arm to place the blue and white playingcards packaging in the brown basket with woven ridges.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with handle.",
+    "Pick the card box with golden designs, place it in the basket for holding items.",
+    "Use one arm to grab the box of playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Grab the blue and white playingcards packaging, drop it in the brown basket, shift the brown basket.",
+    "Grab the small playingcards container and drop it in the smooth ribbed light brown basket.",
+    "Put the blue pack holding playingcards in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the basket for carrying things.",
+    "Lift the box of playingcards using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Use one arm to place the card box with golden designs in the basket with handle, adjust the basket with handle.",
+    "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.",
+    "Pick up the rectangular blue playingcards case, put it in the woven basket, shift the woven basket a little.",
+    "Pick the card box with golden designs, put it inside the basket for holding items.",
+    "Place the blue pack holding playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick the playingcards pack with blue top, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the card box with golden designs, set it into the basket for carrying things.",
+    "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.",
+    "Pick the palm-sized playingcards carton 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 oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the rectangular blue playingcards case, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick up the box of playingcards and set it inside the basket with loop handle.",
+    "Take the smooth playingcards holder, set it in the woven basket, shift the woven basket lightly.",
+    "Pick and move the rectangular blue playingcards case, then shift the brown basket with woven ridges.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the brown basket, shift the brown basket.",
+    "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.",
+    "Pick up the small playingcards container, place it in the brown basket, grab the brown basket.",
+    "Lift the blue carton for playingcards, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Move the smooth playingcards holder to the basket for carrying things, then shift the basket for carrying things.",
+    "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.",
+    "Place the palm-sized playingcards carton into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Grab the playingcards box with white symbols, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Put the blue and white playingcards packaging in the brown basket and pull the brown basket away."
+  ],
+  "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 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.",
+    "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 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.",
+    "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 oval basket with medium storage space and move it.",
+    "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 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 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 basket with rounded edges, move 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 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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 pack, 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.",
+    "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 in 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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 place into 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.",
+    "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 basket with rounded edges, move 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.",
+    "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.",
+    "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 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 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, 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.",
+    "Place the rectangular playingcards pack 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 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 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 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 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.",
+    "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.",
+    "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 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.",
+    "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, 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 basket with rounded edges 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 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 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 basket with rounded edges, move 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.",
+    "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 medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode1.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..256c8435b00f56dd9051b3a03c7c36a09859f2f1
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the playingcards box with white symbols, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue carton for playingcards, drop it in the light brown oval basket, then move the light brown oval 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.",
+    "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 smooth playingcards holder, put the smooth playingcards holder into the basket for holding items, shift the basket for holding items.",
+    "Put the rectangular blue playingcards case in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Pick up the box of playingcards, place it in the brown basket, grab the brown basket.",
+    "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, set it into the smooth ribbed light brown basket.",
+    "Use one arm to place the box of playingcards in the brown basket with woven ridges.",
+    "Pick up the playingcards pack with blue top and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the box of playingcards and drop it in the wooden basket with curved handle.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Place the blue and white playingcards packaging into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Use one arm to place the small playingcards container in the basket with handle, adjust the basket with handle.",
+    "Grab the card box with golden designs, drop it in 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.",
+    "Lift the playingcards pack with blue top, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Pick the card box with golden designs, place it in the woven basket.",
+    "Place the blue pack holding playingcards in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the box of playingcards and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Lift the small playingcards container, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket with loop handle.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the oval-shaped basket with woven body.",
+    "Set the blue and white playingcards packaging in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Use one arm to grab the small playingcards container, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Move the blue and white playingcards packaging to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the blue and white playingcards packaging, drop in the basket for holding items, and move the basket for holding items.",
+    "Pick the card box with golden designs, put it inside the brown basket with woven ridges.",
+    "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.",
+    "Put the smooth playingcards holder in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick and move the playingcards box with white symbols, then shift the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick the playingcards box with white symbols, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the blue playingcards box, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Pick the blue playingcards box, drop the blue playingcards box 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 woven basket, shift the woven basket.",
+    "Put the rectangular blue playingcards case in the basket with handle, then move the basket with handle away slightly.",
+    "Pick up the blue playingcards box, place it in the basket for holding items, grab the basket for holding items.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket with handle.",
+    "Grab the blue playingcards box, set it into the brown basket with woven ridges.",
+    "Use one arm to place the blue pack holding playingcards in the wooden basket with curved handle.",
+    "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.",
+    "Grab the card box with golden designs and drop it in 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.",
+    "Place the palm-sized playingcards carton into the woven basket and push the woven basket slightly away.",
+    "Use one arm to place the box of playingcards in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the box of playingcards, drop it in the basket with handle, shift the basket with handle.",
+    "Take the playingcards pack with blue top, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Lift the blue carton for playingcards, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the card box with golden designs, place it in the brown basket.",
+    "Place the palm-sized playingcards carton in the basket with handle, then grab the basket with handle.",
+    "Pick the palm-sized playingcards carton and position it in the basket with handle, move the basket with handle slightly.",
+    "Lift the small playingcards container, place it into the basket with handle, move the basket with handle.",
+    "Pick up the palm-sized playingcards carton and set it inside the wooden basket with curved handle.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the basket for holding items.",
+    "Set the palm-sized playingcards carton in the woven basket, and shift the woven basket away.",
+    "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.",
+    "Move the small playingcards container to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the playingcards pack with blue top, put it inside the basket made of woven wood.",
+    "Lift the playingcards box with white symbols 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 woven basket and pull the woven basket away.",
+    "Pick and move the smooth playingcards holder, then shift the basket with handle.",
+    "Grab the playingcards pack with blue top, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick the box of playingcards, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the blue carton for playingcards, drop it in the brown basket, then move the brown basket.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the brown basket, and move the brown basket using 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.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "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 up the blue playingcards box, place it in the brown basket, grab the brown basket.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the light brown oval basket.",
+    "Grab the box of playingcards, set it into the basket made of woven wood.",
+    "Use one arm to place the small playingcards container in the wooden basket with curved handle.",
+    "Pick up the playingcards box with white symbols and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the blue playingcards box and drop it in the basket made of woven wood.",
+    "Pick up the blue pack holding playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Place the card box with golden designs into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Use one arm to place the blue playingcards box in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, drop it in the brown basket, shift the brown basket.",
+    "Take the card box with golden designs, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Lift the box of playingcards, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood.",
+    "Place the palm-sized playingcards carton in the woven basket, then grab the woven basket.",
+    "Pick the smooth playingcards holder and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Lift the small playingcards container, place it into the brown basket, move the brown basket.",
+    "Pick up the card box with golden designs and set it inside the woven basket.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the brown basket with woven ridges.",
+    "Set the smooth playingcards holder in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Move the small playingcards container to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Pick the box of playingcards, put it inside the basket for holding items.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Put the box of playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick and move the blue carton for playingcards, then shift the smooth ribbed light brown basket.",
+    "Grab the small playingcards container, place it in the brown basket, then move the brown basket away.",
+    "Pick the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and place into 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 pack, 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, 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 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 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 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 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.",
+    "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.",
+    "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 medium basket with smooth texture.",
+    "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 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 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 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.",
+    "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 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 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 case with patterns 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.",
+    "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.",
+    "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 small packet of playingcards 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.",
+    "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 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 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 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.",
+    "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 basket with rounded edges 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 rectangular playingcards case with patterns 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.",
+    "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 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 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, 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 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 medium basket with smooth texture.",
+    "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.",
+    "Grab the rectangular playingcards pack 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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack 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.",
+    "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.",
+    "Place the rectangular playingcards pack in the basket with rounded edges 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 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.",
+    "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 case with patterns 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.",
+    "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.",
+    "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.",
+    "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 pack, 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.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode10.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..68b0b59253a45cec197b0c797edb93dd1919dbdb
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the palm-sized playingcards carton in the basket with loop handle, then grab the basket with loop handle.",
+    "Move the box of playingcards to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white symbols, set it into the woven basket.",
+    "Grab the small playingcards container, drop it in the basket with handle, shift the basket with handle.",
+    "Use one arm to place the smooth playingcards holder in the woven basket, adjust 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.",
+    "Grab the playingcards box with white symbols, 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 light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the card box with golden designs, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Put the playingcards box with white symbols in the basket for holding items and pull the basket for holding items away.",
+    "Pick up the rectangular blue playingcards case, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "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.",
+    "Set the box of playingcards in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in 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.",
+    "Grab the blue and white playingcards packaging and drop it in the oval-shaped basket with woven body.",
+    "Pick the rectangular blue playingcards case, put it inside the brown basket with woven ridges.",
+    "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 playingcards pack with blue top and set it inside the basket with loop handle.",
+    "Pick and move the playingcards pack with blue top, then shift 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.",
+    "Pick the blue pack holding playingcards and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Lift the blue carton for playingcards 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 woven basket, then move the woven basket.",
+    "Pick up the playingcards pack with blue top, place it in the basket with handle, grab the basket with handle.",
+    "Lift the blue carton for playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Take the blue pack holding playingcards, set it in the brown basket, shift the brown basket lightly.",
+    "Lift the playingcards pack with blue top, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Use one arm to place the palm-sized playingcards carton in the wooden basket with curved handle.",
+    "Pick the blue playingcards box, place it in the brown basket.",
+    "Pick the blue and white playingcards packaging, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick up the small playingcards container and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Place the playingcards pack with blue top in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Move the playingcards pack with blue top to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the palm-sized playingcards carton, 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.",
+    "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.",
+    "Place the blue pack holding playingcards into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the playingcards pack with blue top, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the blue carton for playingcards in the brown basket, then move the brown basket away slightly.",
+    "Grab the blue and white playingcards packaging, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Put the box of playingcards in the woven basket and pull the woven basket away.",
+    "Pick up the playingcards pack with blue top, put it in the brown basket, shift the brown basket a little.",
+    "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.",
+    "Set the blue carton for playingcards in the basket with handle, and shift the basket with handle away.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the basket for holding items, slide the basket for holding items lightly.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the brown basket with woven ridges.",
+    "Take the box of playingcards, put the box of playingcards into the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue carton for playingcards and drop it in the brown basket with woven ridges.",
+    "Pick the small playingcards container, put it inside the brown basket.",
+    "Grab the card box with golden designs, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick up the small playingcards container and set it inside the woven basket.",
+    "Pick and move the blue and white playingcards packaging, 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.",
+    "Pick the box of playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "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.",
+    "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 up the smooth playingcards holder, place it in the woven basket, grab the woven basket.",
+    "Lift the rectangular blue playingcards case, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Take the smooth playingcards holder, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Lift the palm-sized playingcards carton, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Use one arm to place the box of playingcards in the light brown oval basket.",
+    "Pick the smooth playingcards holder, place it in the brown basket.",
+    "Pick the rectangular blue playingcards case, place it in the basket with handle, shift the basket with handle.",
+    "Pick up the small playingcards container and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Place the blue and white playingcards packaging in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Move the box of playingcards to the basket for holding items, then shift the basket for holding items.",
+    "Grab the card box with golden designs, 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.",
+    "Use one arm to place the blue playingcards box in the basket for carrying things, adjust the basket for carrying things.",
+    "Place the blue and white playingcards packaging into the woven basket and push the woven basket slightly away.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Put the blue playingcards box 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, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Put the blue playingcards box in the basket made of woven wood and pull the basket made of woven wood away.",
+    "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.",
+    "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.",
+    "Set the playingcards box with white symbols in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the woven basket, slide the woven basket lightly.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket for holding items.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the brown basket, shift the brown basket.",
+    "Grab the playingcards pack with blue top and drop it in the basket made of woven wood.",
+    "Pick the blue carton for playingcards, put it inside the wooden basket with curved handle.",
+    "Grab the playingcards pack with blue top, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick up the playingcards box with white symbols and set it inside the light brown oval basket.",
+    "Pick and move the blue and white playingcards packaging, 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 holding items.",
+    "Pick the blue and white playingcards packaging and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick up the rectangular blue playingcards case, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Lift the box of playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Take the box of playingcards, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Lift the small playingcards container, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Use one arm to place the box of playingcards in the basket for carrying things.",
+    "Pick the blue pack holding playingcards, place it in the light brown oval basket.",
+    "Pick the blue and white playingcards packaging, place it in the woven basket, shift the woven basket.",
+    "Pick up the playingcards pack with blue top and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Place the smooth playingcards holder in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "Pick up the rectangular playingcards pack 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.",
+    "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 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.",
+    "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 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.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "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.",
+    "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 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, 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 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 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 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.",
+    "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 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.",
+    "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 basket with rounded edges and move it.",
+    "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 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 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 pack 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.",
+    "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.",
+    "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 pack 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.",
+    "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 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 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.",
+    "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 case with patterns 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.",
+    "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 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 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 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 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.",
+    "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 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.",
+    "Pick up the small packet of playingcards and drop in 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 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 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, 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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 oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode11.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..55af492af69df56ab12e207d01e7cde698267887
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the small playingcards container in the brown basket, then grab the brown basket.",
+    "Grab the rectangular blue playingcards case, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case and drop it in the basket made of woven wood.",
+    "Lift the playingcards box with white symbols, place it into the basket with handle, move the basket with handle.",
+    "Take the palm-sized playingcards carton, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to place the box of playingcards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the card box with golden designs in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Take the small playingcards container, put the small playingcards container into the basket for carrying things, shift the basket for carrying things.",
+    "Lift the playingcards pack with blue top, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Pick the smooth playingcards holder, place it in the basket for holding items.",
+    "Grab the blue pack holding playingcards, set it into the light brown oval basket.",
+    "Grab the box of playingcards, drop it in the woven basket, shift the woven basket.",
+    "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 playingcards box, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick and move the playingcards box with white symbols, then shift the basket with loop handle.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the brown basket, and move the brown basket using the right arm.",
+    "Place the blue carton for playingcards into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick the playingcards pack with blue top, put it inside the brown basket with woven ridges.",
+    "Set the small playingcards container in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the basket for holding items.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the brown basket.",
+    "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 card box with golden designs in the woven basket, then move the woven basket away slightly.",
+    "Pick the card box with golden designs and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "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.",
+    "Use one arm to grab the smooth playingcards holder, place it in the basket with handle, then move the basket with handle.",
+    "Use one arm to place the blue and white playingcards packaging in the brown basket with woven ridges.",
+    "Pick up the palm-sized playingcards carton, place it in the brown basket, grab the brown basket.",
+    "Grab the playingcards box with white symbols, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Move the smooth playingcards holder to the woven basket, then shift the woven basket.",
+    "Pick up the small playingcards container and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the playingcards box with white symbols and set it inside the smooth ribbed light brown basket.",
+    "Place the palm-sized playingcards carton in the woven basket, then grab the woven basket.",
+    "Grab the playingcards pack with blue top, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Grab the blue carton for playingcards and drop it in the brown basket with woven ridges.",
+    "Lift the blue pack holding playingcards, place it into the woven basket, move 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.",
+    "Use one arm to place the box of playingcards in the brown basket, adjust the brown basket.",
+    "Put the playingcards box with white symbols in the brown basket and pull the brown basket away.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the blue playingcards box, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the brown basket, slide the brown basket lightly.",
+    "Pick the blue playingcards box, place it in the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, set it into the basket for carrying things.",
+    "Grab the playingcards box with white symbols, drop it in the woven basket, shift the woven basket.",
+    "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.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick and move the card box with golden designs, then shift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the small playingcards container, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Place the blue pack holding playingcards into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Pick the playingcards box with white symbols, put it inside the basket for holding items.",
+    "Set the palm-sized playingcards carton in the basket for holding items, and shift the basket for holding items away.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket for carrying things.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the brown basket with woven ridges.",
+    "Grab the palm-sized playingcards carton, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Put the box of playingcards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "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.",
+    "Lift the palm-sized playingcards carton 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 grab the blue playingcards box, place it in the brown basket, then move the brown basket.",
+    "Use one arm to place the blue playingcards box in the basket made of woven wood.",
+    "Pick up the playingcards box with white symbols, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Grab the blue carton for playingcards, drop it in the woven basket, then move the woven basket.",
+    "Move the blue carton for playingcards to the basket with handle, then shift the basket with handle.",
+    "Pick up the box of playingcards and drop it in the brown basket, then move the brown basket.",
+    "Pick up the palm-sized playingcards carton and set it inside the brown basket with woven ridges.",
+    "Place the box of playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Grab the smooth playingcards holder, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Grab the smooth playingcards holder and drop it in the basket for carrying things.",
+    "Lift the smooth playingcards holder, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Take the small playingcards container, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to place the small playingcards container in the basket for holding items, adjust the basket for holding items.",
+    "Put the playingcards pack with blue top in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the light brown oval basket, shift the light brown oval basket.",
+    "Lift the blue playingcards box, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "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.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket with woven ridges.",
+    "Grab the small playingcards container, set it into the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop 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 carrying things, shift the basket for carrying things a little.",
+    "Pick the rectangular blue playingcards case, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick and move the smooth playingcards holder, then shift the basket made of woven wood.",
+    "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.",
+    "Place the card box with golden designs into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the box of playingcards, put it inside the light brown oval basket.",
+    "Set the palm-sized playingcards carton in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the basket for carrying things.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the wooden basket with curved handle.",
+    "Grab the palm-sized playingcards carton, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Put the playingcards box with white symbols in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Pick the blue playingcards box and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "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.",
+    "Use one arm to grab the playingcards pack with blue top, place 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 basket for holding items.",
+    "Pick up the blue pack holding playingcards, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Move the playingcards box with white symbols to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the playingcards pack with blue top and set it inside the basket for holding items.",
+    "Place the playingcards pack with blue top in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body."
+  ],
+  "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 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.",
+    "Place the rectangular playingcards case with patterns 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.",
+    "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.",
+    "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 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 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.",
+    "Place the rectangular playingcards case with patterns 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 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.",
+    "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 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 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 case with patterns 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 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 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.",
+    "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.",
+    "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 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 place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop 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 put it 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.",
+    "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 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, 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.",
+    "Pick up the rectangular playingcards case with patterns and drop 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 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 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.",
+    "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 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.",
+    "Pick up the small packet of playingcards 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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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 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 place into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack 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.",
+    "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 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.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space 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 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 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.",
+    "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.",
+    "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 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 place into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop 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 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 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 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 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 place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop 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 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."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode12.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c07d892645ab2bac13212489ed90dd2be3929f5
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the brown basket with woven ridges.",
+    "Put the blue and white playingcards packaging in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the box of playingcards, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Use one arm to place the box of playingcards in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the brown basket.",
+    "Place the playingcards box with white symbols into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Use one arm to place the blue carton for playingcards in the basket for carrying things.",
+    "Pick the playingcards box with white symbols, put it inside the brown basket.",
+    "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 rectangular blue playingcards case, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Place the blue carton for playingcards in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Grab the blue carton for playingcards, set it into the brown basket.",
+    "Move the rectangular blue playingcards case to the brown basket, then shift the brown basket.",
+    "Grab the smooth playingcards holder and drop it in the brown basket with woven ridges.",
+    "Take the smooth playingcards holder, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Lift the palm-sized playingcards carton, place it into the woven basket, move the woven basket.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Put the box of playingcards in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Set the blue playingcards box in the basket with handle, and shift the basket with handle away.",
+    "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.",
+    "Lift the blue carton for playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket made of woven wood, shift the basket made of woven wood.",
+    "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.",
+    "Pick up the small playingcards container and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the box of playingcards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick and move the blue pack holding playingcards, then shift the wooden basket with curved handle.",
+    "Grab the blue playingcards box, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Grab the blue playingcards box, drop it in the basket with handle, then move the basket with handle.",
+    "Pick up the rectangular blue playingcards case, place it in the brown basket, grab the brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the basket made of woven wood.",
+    "Pick up the playingcards box with white symbols and set it inside the woven basket.",
+    "Pick the rectangular blue playingcards case and position it in the brown basket, move the brown basket slightly.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the basket made of woven wood.",
+    "Put the box of playingcards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the blue and white playingcards packaging, drop in the woven basket, and move the woven basket.",
+    "Use one arm to place the blue carton for playingcards in the brown basket, adjust the brown basket.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the light brown oval basket.",
+    "Place the blue pack holding playingcards into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with handle.",
+    "Pick the card box with golden designs, put it inside the woven basket.",
+    "Pick the box of playingcards, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the palm-sized playingcards carton, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Place the box of playingcards in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Grab the playingcards pack with blue top, set it into the light brown oval basket.",
+    "Move the playingcards pack with blue top to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the rectangular blue playingcards case and drop it in the basket with handle.",
+    "Take the small playingcards container, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Lift the blue carton for playingcards, place it into the light brown oval basket, move the light brown oval basket.",
+    "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.",
+    "Put the card box with golden designs in the basket with handle and pull the basket with handle away.",
+    "Set the blue playingcards box 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, drop the card box with golden designs in the basket with handle, slide the basket with handle 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.",
+    "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 pack holding playingcards using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "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 playingcards box with white symbols, drop it in the woven basket, shift the woven basket.",
+    "Pick and move the smooth playingcards holder, then shift the basket made of woven wood.",
+    "Grab the playingcards pack with blue top, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "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.",
+    "Grab the box of playingcards, drop it in the basket with handle, then move the basket with handle.",
+    "Pick up the small playingcards container, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick the card box with golden designs, place it in the basket for holding items.",
+    "Pick up the playingcards box with white symbols and set it inside the brown basket.",
+    "Pick the small playingcards container 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 card box with golden designs, then use the right arm for the woven basket.",
+    "Put the blue carton for playingcards in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the palm-sized playingcards carton, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Use one arm to place the rectangular blue playingcards case in the wooden basket with curved handle, adjust 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 made of woven wood.",
+    "Place the blue pack holding playingcards into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Use one arm to place the playingcards pack with blue top in the brown basket.",
+    "Pick the card box with golden designs, put it inside the basket with handle.",
+    "Pick the box of playingcards, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick up the playingcards pack with blue top, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Place the blue playingcards box in the woven basket, then grab the woven basket.",
+    "Grab the blue playingcards box, set it into the light brown oval basket.",
+    "Move the box of playingcards to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Grab the blue playingcards box and drop it in the basket with handle.",
+    "Take the blue pack holding playingcards, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Lift the rectangular blue playingcards case, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "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.",
+    "Put the playingcards box with white symbols in the basket for holding items and pull the basket for holding items away.",
+    "Set the smooth playingcards holder in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the brown basket, slide the brown basket lightly.",
+    "Lift the smooth playingcards holder, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket for holding items, shift the basket for holding items.",
+    "Lift the rectangular blue playingcards case 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 up the playingcards box with white symbols and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the palm-sized playingcards carton, drop it in the basket with handle, shift the basket with handle.",
+    "Pick and move the blue pack holding playingcards, then shift the basket made of woven wood.",
+    "Grab the box of playingcards, place it in the woven basket, then move the woven basket away.",
+    "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 blue carton for playingcards, drop it in the woven basket, then move the woven basket.",
+    "Pick up the small playingcards container, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Pick up the blue carton for playingcards and set it inside the smooth ribbed light brown basket.",
+    "Pick the playingcards box with white symbols and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket with loop handle."
+  ],
+  "unseen": [
+    "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.",
+    "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 place 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.",
+    "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.",
+    "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 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.",
+    "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 pack and place 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 pack and place into 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 oval basket with medium storage space and move it.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 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 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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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 put 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 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 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 basket with rounded edges.",
+    "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 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.",
+    "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 case with patterns 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 pack 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.",
+    "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 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 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."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode13.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..be35874240ea6860bc1788c67e6233564b6e701d
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the palm-sized playingcards carton 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 woven basket.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Grab the smooth playingcards holder, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Grab the box of playingcards, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the playingcards pack with blue top in the basket for carrying things, adjust the basket for carrying things.",
+    "Pick the smooth playingcards holder, place it in the smooth ribbed light brown basket.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick and move the playingcards pack with blue top, then shift the basket made of woven wood.",
+    "Grab the playingcards box with white symbols, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick up the playingcards box with white symbols and drop it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Put the blue carton for playingcards in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Pick the palm-sized playingcards carton, place it in the woven basket, shift the woven basket.",
+    "Lift the palm-sized playingcards carton, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Place the palm-sized playingcards carton into the basket with loop handle and push the basket with loop handle slightly away.",
+    "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 playingcards box with white symbols, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Take the box of playingcards, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Grab the rectangular blue playingcards case and drop it in the basket for holding items.",
+    "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.",
+    "Lift the rectangular blue playingcards case, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick the rectangular blue playingcards case, put it inside the basket for carrying things.",
+    "Pick up the blue playingcards box and set it inside the brown basket.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the light brown oval basket.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the wooden basket with curved handle.",
+    "Move the box of playingcards to the woven basket, then shift the woven basket.",
+    "Place the small playingcards container in the woven basket, then grab the woven basket.",
+    "Pick the blue carton for playingcards and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Put the palm-sized playingcards carton in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Grab the card box with golden designs, set it into the smooth ribbed light brown basket.",
+    "Pick up the blue and white playingcards packaging, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Set the small playingcards container in the light brown oval basket, and shift the light brown oval basket away.",
+    "Use one arm to place the small playingcards container in the woven basket.",
+    "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 smooth playingcards holder, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Use one arm to place the blue pack holding playingcards in the basket for holding items, adjust the basket for holding items.",
+    "Pick the blue playingcards box, place it in the light brown oval basket.",
+    "Grab the card box with golden designs, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick and move the small playingcards container, then shift the basket for holding items.",
+    "Grab the playingcards pack with blue top, drop in the woven basket, and move the woven basket.",
+    "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.",
+    "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.",
+    "Put the card box with golden designs in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Pick the playingcards pack with blue top, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Lift the playingcards box with white symbols, place it into the basket with loop handle, move the basket with loop 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 blue and white playingcards packaging using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Pick up the box of playingcards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "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.",
+    "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 playingcards box with white symbols and drop it in the basket for holding items.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Lift the smooth playingcards holder, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick the rectangular blue playingcards case, put it inside the brown basket with woven ridges.",
+    "Pick up the small playingcards container and set it inside the basket for holding items.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the basket with loop handle.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the basket for holding items.",
+    "Move the rectangular blue playingcards case to the basket with loop handle, then shift the basket with loop handle.",
+    "Place the blue pack holding playingcards in the woven basket, then grab the woven basket.",
+    "Pick the palm-sized playingcards carton and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Put the palm-sized playingcards carton in the basket with handle and pull the basket with handle away.",
+    "Grab the blue pack holding playingcards, set it into the basket with handle.",
+    "Pick up the playingcards pack with blue top, place it in the basket for holding items, grab the basket for holding items.",
+    "Set the palm-sized playingcards carton in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Use one arm to place the small playingcards container in the basket for holding items.",
+    "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.",
+    "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 away.",
+    "Grab the playingcards box with white symbols, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the blue carton for playingcards in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the blue pack holding playingcards, place it in the woven basket.",
+    "Grab the blue and white playingcards packaging, drop it in the basket with handle, shift the basket with handle.",
+    "Pick and move the box of playingcards, then shift the light brown oval basket.",
+    "Grab the blue pack holding playingcards, drop in the basket with handle, and move the basket with handle.",
+    "Pick up the card box with golden designs and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to grab the card box with golden designs, place it in the basket with handle, then move the basket with handle.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Pick the box of playingcards, place it in the brown basket, shift the brown basket.",
+    "Lift the playingcards box with white symbols, place it into the basket for carrying things, move the basket for carrying things.",
+    "Place the blue carton for playingcards into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the brown basket, then push the brown basket 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.",
+    "Take the card box with golden designs, put the card box with golden designs into the basket with handle, shift the basket with handle.",
+    "Take the blue playingcards box, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the palm-sized playingcards carton and drop it in the light brown oval basket.",
+    "Pick the small playingcards container, drop the small playingcards container in the basket for holding items, slide the basket for holding items lightly.",
+    "Lift the blue playingcards box, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the small playingcards container, put it inside the basket made of woven wood.",
+    "Pick up the smooth playingcards holder and set it inside the basket for carrying things.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the basket with handle.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the oval-shaped basket with woven body.",
+    "Move the blue and white playingcards packaging to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Place the blue playingcards box in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick the smooth playingcards holder and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Put the blue and white playingcards packaging in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Grab the blue carton for playingcards, set it into the brown basket.",
+    "Pick up the blue and white playingcards packaging, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Set the card box with golden designs in the basket for holding items, and shift the basket for holding items away."
+  ],
+  "unseen": [
+    "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 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.",
+    "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.",
+    "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 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, 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 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 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 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 place into 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.",
+    "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.",
+    "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 medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop 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 pack 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.",
+    "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 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.",
+    "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 small packet of playingcards, place it in 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 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.",
+    "Grab the small packet of playingcards 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 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.",
+    "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 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 case with patterns 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.",
+    "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 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, 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.",
+    "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 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.",
+    "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 oval basket with medium storage space, move the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode14.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f61c057704ddc402866bdf318bb3b54cee0882f
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small playingcards container, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the blue playingcards box, put the blue playingcards box into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the box of playingcards in the woven basket, then move the woven basket away slightly.",
+    "Place the smooth playingcards holder into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Set the blue pack holding playingcards in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the card box with golden designs, drop in the brown basket, and move the brown basket.",
+    "Lift the palm-sized playingcards carton 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 up the blue carton for playingcards and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket for holding items.",
+    "Place the blue pack holding playingcards in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to grab the smooth playingcards holder, 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 rectangular blue playingcards case in the light brown oval basket.",
+    "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.",
+    "Pick the rectangular blue playingcards case, place it in the brown basket, shift the brown basket.",
+    "Pick the small playingcards container, drop the small playingcards container in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Pick and move the playingcards pack with blue top, then shift the basket with handle.",
+    "Lift the box of playingcards, place it into the woven basket, move the woven basket.",
+    "Grab the blue pack holding playingcards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Pick up the blue and white playingcards packaging, place it in the brown basket, grab the brown basket.",
+    "Grab the blue pack holding playingcards and drop it in the basket made of woven wood.",
+    "Pick the playingcards pack with blue top, place it in the light brown oval basket.",
+    "Put the small playingcards container in the basket with loop handle and pull the basket with loop handle away.",
+    "Use one arm to place the blue playingcards box in the woven basket, adjust the woven basket.",
+    "Pick the rectangular blue playingcards case, put it inside the light brown oval basket.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket made of woven wood.",
+    "Lift the blue playingcards box, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the brown basket.",
+    "Move the smooth playingcards holder to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the card box with golden designs, set it into the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Take the playingcards box with white symbols, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the box of playingcards, 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, put the blue pack holding playingcards into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the playingcards pack with blue top, 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 loop handle, then move the basket with loop handle away slightly.",
+    "Place the playingcards box with white symbols into the brown basket and push the brown basket slightly away.",
+    "Set the blue and white playingcards packaging in the light brown oval basket, and shift the light brown oval basket away.",
+    "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.",
+    "Grab the blue playingcards box, drop in the basket for holding items, and move the basket for holding items.",
+    "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.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the blue and white playingcards packaging and set it inside the light brown oval basket.",
+    "Place the blue carton for playingcards in the brown basket, then grab the brown basket.",
+    "Use the left arm to grab the blue carton for 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 place the small playingcards container in the oval-shaped basket with woven body.",
+    "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 box of playingcards, place it in 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 wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Pick and move the playingcards box with white symbols, then shift the brown basket with woven ridges.",
+    "Lift the card box with golden designs, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, place it in the basket with handle, then move the basket with handle away.",
+    "Pick up the card box with golden designs, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the small playingcards container and drop it in the smooth ribbed light brown basket.",
+    "Pick the blue carton for playingcards, place it in the brown basket.",
+    "Put the smooth playingcards holder in the brown basket and pull the brown basket away.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with handle, adjust the basket with handle.",
+    "Pick the blue playingcards box, put it inside the light brown oval basket.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the light brown oval basket.",
+    "Lift the box of playingcards, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the basket with handle.",
+    "Move the blue playingcards box to the light brown oval basket, then shift the light brown oval basket.",
+    "Grab the blue playingcards box, set it into the brown basket.",
+    "Pick up the box of playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Take the card box with golden designs, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the blue playingcards box, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Take the box of playingcards, put the box of playingcards into the brown basket, shift the brown basket.",
+    "Grab the blue carton for playingcards, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Put the blue pack holding playingcards in the woven basket, then move the woven basket away slightly.",
+    "Place the smooth playingcards holder into the woven basket and push the woven basket slightly away.",
+    "Set the blue and white playingcards packaging in the basket for carrying things, and shift the basket for carrying things 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.",
+    "Grab the playingcards box with white symbols, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Lift the smooth playingcards holder 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 up the blue and white playingcards packaging and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the blue pack holding playingcards and set it inside the oval-shaped basket with woven body.",
+    "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 grab the blue playingcards box, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Use one arm to place the blue pack holding playingcards in the wooden basket with curved handle.",
+    "Pick the blue playingcards box and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick the blue and white playingcards packaging, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the small playingcards container, drop the small playingcards container in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick and move the playingcards box with white symbols, then shift the basket made of woven wood.",
+    "Lift the playingcards box with white symbols, place it into the brown basket, move the brown basket.",
+    "Grab the box of playingcards, place it in the woven basket, then move the woven basket away.",
+    "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.",
+    "Grab the card box with golden designs and drop it in the wooden basket with curved handle.",
+    "Pick the palm-sized playingcards carton, place it in the oval-shaped basket with woven body.",
+    "Put the palm-sized playingcards carton in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Use one arm to place the playingcards pack with blue top in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the blue playingcards box, put it inside the woven 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, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Use the left arm to pick the card box with golden designs, then use the right arm for the basket made of woven wood.",
+    "Move the small playingcards container to the basket for holding items, then shift the basket for holding items.",
+    "Grab the blue playingcards box, set it into the brown basket.",
+    "Pick up the palm-sized playingcards carton, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Take the smooth playingcards holder, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Grab the blue carton for playingcards, drop it in the woven basket, then move the woven basket."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 small packet of playingcards 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.",
+    "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 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 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 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 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 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, 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 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 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 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.",
+    "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 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 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 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.",
+    "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 case with patterns 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.",
+    "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, 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.",
+    "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 pack 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, 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.",
+    "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 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.",
+    "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 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, 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 case with patterns, 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.",
+    "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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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 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 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 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 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.",
+    "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 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 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 rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode15.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c5cb1f69490e5aca41cd6dc7fbe961e42588695
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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.",
+    "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.",
+    "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.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket with handle.",
+    "Use one arm to place the playingcards pack with blue top in the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, drop it in the brown basket, shift the brown basket.",
+    "Grab the small playingcards container, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the basket with handle, then move the basket with handle.",
+    "Lift the blue carton for playingcards, place it into the basket with handle, move the basket with handle.",
+    "Put the box of 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 rectangular blue playingcards case, then use the right arm for the basket for carrying things.",
+    "Take the blue playingcards box, put the blue playingcards box into the basket for carrying things, shift the basket for carrying things.",
+    "Pick the playingcards pack with blue top, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the rectangular blue playingcards case and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Grab the card box with golden designs, set it into the brown basket.",
+    "Grab the playingcards pack with blue top, place it in the basket with handle, then move the basket with handle away.",
+    "Pick the blue pack holding playingcards, put it inside the wooden basket with curved handle.",
+    "Grab the blue and white playingcards packaging, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick and move the card box with golden designs, then shift the smooth ribbed light brown basket.",
+    "Place the small playingcards container in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the playingcards box with white symbols, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Move the small playingcards container to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols and drop it in the basket for carrying things.",
+    "Put the blue playingcards box in the wooden basket with curved handle and pull the wooden basket with curved handle 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.",
+    "Place the smooth playingcards holder into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Pick the palm-sized playingcards carton, place it in the basket with handle.",
+    "Use one arm to place the blue pack holding playingcards in the brown basket, adjust the brown basket.",
+    "Set the playingcards box with white symbols in the light brown oval basket, and shift the light brown oval basket away.",
+    "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.",
+    "Pick up the blue carton for playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick up the blue carton for playingcards and set it inside the basket with loop handle.",
+    "Take the blue pack holding playingcards, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick up the playingcards pack with blue top and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Lift the blue and white playingcards packaging 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 blue playingcards box with one arm, drop the blue playingcards box in the brown basket.",
+    "Use one arm to place the small playingcards container in the brown basket.",
+    "Grab the small playingcards container, drop it in the woven basket, shift the woven basket.",
+    "Grab the card box with golden designs, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "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.",
+    "Lift the small playingcards container, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Put the rectangular blue playingcards case in the woven basket, then move the woven basket away slightly.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the basket for holding items.",
+    "Take the small playingcards container, put the small playingcards container into the brown basket, shift the brown basket.",
+    "Pick the small playingcards container, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick the card box with golden designs and position it in the brown basket, move the brown basket slightly.",
+    "Grab the smooth playingcards holder, set it into the wooden basket with curved handle.",
+    "Grab the blue pack holding playingcards, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Pick the palm-sized playingcards carton, put it inside the brown basket.",
+    "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 smooth ribbed light brown basket.",
+    "Place the rectangular blue playingcards case in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Lift the smooth playingcards holder, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Move the blue playingcards box to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Grab the blue pack holding playingcards and drop it in the brown basket with woven ridges.",
+    "Put the card box with golden designs in the brown basket and pull the brown basket away.",
+    "Pick the small playingcards container, drop the small playingcards container in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Place the small playingcards container into the basket made of woven wood and push the basket made of woven wood slightly 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, adjust the oval-shaped basket with woven body.",
+    "Set the rectangular blue playingcards case in the woven basket, and shift the woven basket away.",
+    "Pick up the smooth playingcards holder, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick up the playingcards pack with blue top, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket made of woven wood.",
+    "Take the blue pack holding playingcards, set it in the woven basket, shift the woven basket lightly.",
+    "Use the left arm to grab the palm-sized playingcards carton, 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 made of woven wood, then move the basket made of woven wood.",
+    "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.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the oval-shaped basket with woven body.",
+    "Use one arm to place the card box with golden designs in the basket with handle.",
+    "Grab the card box with golden designs, drop it in the brown basket, shift the brown basket.",
+    "Grab the card box with golden designs, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "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.",
+    "Lift the blue carton for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "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 small playingcards container, then use the right arm for 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 the blue and white playingcards packaging, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the rectangular blue playingcards case and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Grab the blue carton for playingcards, set it into the basket with loop handle.",
+    "Grab the playingcards box with white symbols, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick the box of playingcards, put it inside the oval-shaped basket with woven body.",
+    "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 rectangular blue playingcards case, then shift the woven basket.",
+    "Place the smooth playingcards holder in the brown basket, then grab the brown basket.",
+    "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.",
+    "Move the small playingcards container to the basket with handle, then shift the basket with handle.",
+    "Grab the palm-sized playingcards carton and drop it in the basket for holding items.",
+    "Put the blue and white playingcards packaging in the basket for holding items and pull the basket for holding items away.",
+    "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.",
+    "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 card box with golden designs, place it in the basket with loop handle.",
+    "Use one arm to place the palm-sized playingcards carton in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Set the blue pack holding playingcards in the woven basket, and shift the woven basket away.",
+    "Pick up the playingcards box with white symbols, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Pick up the small playingcards container, 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 and set it inside the light brown oval basket.",
+    "Take the blue carton for playingcards, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the basket with handle, and move the basket with handle using the right arm."
+  ],
+  "unseen": [
+    "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 small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack 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.",
+    "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 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.",
+    "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 rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "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.",
+    "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 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.",
+    "Pick up the rectangular playingcards pack and drop in 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 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.",
+    "Grab the rectangular playingcards pack 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.",
+    "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 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 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 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.",
+    "Grab the small packet of playingcards and put 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.",
+    "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 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 and drop in 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.",
+    "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 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 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, 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.",
+    "Grab the rectangular playingcards pack 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.",
+    "Grab the rectangular playingcards pack 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 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 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, 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.",
+    "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 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.",
+    "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 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, 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.",
+    "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 basket with rounded edges, then shift 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.",
+    "Place the rectangular playingcards pack 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 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 case with patterns and drop in 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 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 pack 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.",
+    "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, 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 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 pack 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.",
+    "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.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space 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 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 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 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 case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it 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 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, 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.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode16.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e3051591f9afd8f3ea2a955e5e8872ced04c6ab
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rectangular blue playingcards case, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the blue playingcards box, place it in the brown basket with woven ridges.",
+    "Pick up the box of playingcards, place it in the brown basket, grab the brown basket.",
+    "Put the playingcards box with white symbols in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Put the smooth playingcards holder in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Take the blue and white playingcards packaging, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the rectangular blue playingcards case, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the blue carton for playingcards, place it in the brown basket, then move the brown basket away.",
+    "Place the playingcards box with white symbols into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket with handle, shift the basket with handle.",
+    "Use one arm to place the smooth playingcards holder in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Move the box of playingcards to the basket for holding items, then shift the basket for holding items.",
+    "Pick and move the playingcards box with white symbols, then shift the wooden basket with curved handle.",
+    "Pick up the rectangular blue playingcards case and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the box of playingcards, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "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 card box with golden designs and drop it in the basket with loop handle.",
+    "Pick the smooth playingcards holder and position it in the brown basket, move the brown basket slightly.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the oval-shaped basket with woven body.",
+    "Set the blue carton for playingcards in the basket for holding items, and shift the basket for holding items away.",
+    "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.",
+    "Grab the blue carton for playingcards, set it into the basket with handle.",
+    "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.",
+    "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 the left arm to pick the card box with golden designs, then use the right arm for the basket for holding items.",
+    "Pick the blue playingcards box, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Place the playingcards box with white symbols in the basket with handle, then grab the basket with handle.",
+    "Pick the card box with golden designs, put it inside the wooden basket with curved handle.",
+    "Pick up the card box with golden designs and set it inside the basket with handle.",
+    "Use one arm to place the blue playingcards box in the basket with handle.",
+    "Use one arm to grab the blue playingcards box, place it in the woven basket, then move the woven basket.",
+    "Lift the blue carton for playingcards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the box of playingcards, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the blue and white playingcards packaging, place it in the basket made of woven wood.",
+    "Pick up the blue carton for playingcards, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Put the playingcards box with white symbols in the woven basket and pull the woven basket away.",
+    "Put the blue pack holding playingcards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Take the playingcards box with white symbols, set it in the woven basket, shift the woven basket lightly.",
+    "Grab the small playingcards container, drop it in the brown basket, shift the brown basket.",
+    "Grab the card box with golden designs, place it in the brown basket, then move the brown basket away.",
+    "Place the card box with golden designs into the brown basket and push the brown basket slightly away.",
+    "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 place the small playingcards container in the basket for carrying things, adjust 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.",
+    "Pick and move the smooth playingcards holder, then shift the brown basket with woven ridges.",
+    "Pick up the blue and white playingcards packaging and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the blue playingcards box, drop in the woven basket, and move the woven 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 playingcards box with white symbols and drop it in the basket with handle.",
+    "Pick the smooth playingcards holder 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 with one arm, drop the playingcards pack with blue top in the wooden basket with curved handle.",
+    "Set the box of playingcards in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Pick up the playingcards pack with blue top, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Grab the blue playingcards box, set it into the brown basket with woven ridges.",
+    "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.",
+    "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.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the light brown oval basket.",
+    "Pick the blue and white playingcards packaging, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, drop it in the brown basket, then move the brown basket.",
+    "Place the playingcards pack with blue top in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the palm-sized playingcards carton, put it inside the basket made of woven wood.",
+    "Pick up the blue playingcards box and set it inside the basket made of woven wood.",
+    "Use one arm to place the blue and white playingcards packaging in the basket for holding items.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket, then move the brown basket.",
+    "Lift the blue pack holding playingcards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the smooth playingcards holder, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the playingcards box with white symbols, place it in the smooth ribbed light brown basket.",
+    "Pick up the box of playingcards, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Put the box of playingcards in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Put the palm-sized playingcards carton in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Take the playingcards pack with blue top, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the blue pack holding playingcards, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Place the playingcards box with white symbols into the woven basket and push the woven basket slightly away.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket with handle, shift the basket with handle.",
+    "Use one arm to place the blue carton for playingcards in the basket for carrying things, adjust the basket for carrying things.",
+    "Move the box of playingcards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Pick and move the rectangular blue playingcards case, then shift the wooden basket with curved handle.",
+    "Pick up the box of playingcards and drop it in the basket with handle, then move the basket with 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 palm-sized playingcards carton, drop the palm-sized playingcards carton in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the smooth playingcards holder and drop it in the smooth ribbed light brown basket.",
+    "Pick the blue carton for 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 brown basket with woven ridges.",
+    "Set the palm-sized playingcards carton in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick up the box of playingcards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the card box with golden designs, set it into the brown basket with woven ridges.",
+    "Use the left arm to grab the box of playingcards, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "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.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the basket for holding items.",
+    "Pick the playingcards box with white symbols, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the blue playingcards box, drop it in the light brown oval basket, then move the light brown oval 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 blue pack holding playingcards, put it inside the basket for holding items.",
+    "Pick up the small playingcards container and set it inside the basket with handle.",
+    "Use one arm to place the blue playingcards box in the smooth ribbed light brown basket.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Lift the rectangular blue playingcards case, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Lift the playingcards pack with blue top, drop it in the light brown oval basket, then slightly relocate the light brown oval basket."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 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 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 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 case with patterns 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.",
+    "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 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.",
+    "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 case with patterns 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.",
+    "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 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.",
+    "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.",
+    "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 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, 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 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 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 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.",
+    "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 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 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 pack, 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.",
+    "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 and drop 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.",
+    "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 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.",
+    "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 in 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 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 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 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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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 rectangular playingcards case with patterns 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 rectangular playingcards case with patterns and drop 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 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 medium basket with smooth texture, then shift 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 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 in 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 case with patterns and drop 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 case with patterns, 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.",
+    "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 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 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 rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode17.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..d05fac21b8ecd1b51ea456f90f0028269424eb2a
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the blue carton for playingcards, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick and move the blue playingcards box, then shift the brown basket with woven ridges.",
+    "Lift the blue and white playingcards packaging, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the playingcards pack with blue top and set it inside the basket made of woven wood.",
+    "Pick the blue and white playingcards packaging, place it in the woven basket, shift the woven basket.",
+    "Take the small playingcards container, set it in the basket with handle, shift the basket with handle lightly.",
+    "Grab the playingcards box with white symbols and drop it in the brown basket.",
+    "Grab the smooth playingcards holder, place it in the woven basket, then move the woven basket away.",
+    "Grab the blue pack holding playingcards, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Use one arm to grab the blue playingcards box, place it in the brown basket, then move the brown basket.",
+    "Move the palm-sized playingcards carton 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 oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Use one arm to place the card box with golden designs in the basket for carrying things.",
+    "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 small playingcards container, place it in the woven basket.",
+    "Grab the blue pack holding playingcards, drop it in the brown basket, shift the brown basket.",
+    "Pick the smooth playingcards holder, put it inside the woven basket.",
+    "Place the rectangular blue playingcards case into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the blue pack holding playingcards, set it into the basket with loop handle.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the smooth ribbed light brown basket.",
+    "Put the blue carton for playingcards in the woven basket and pull the woven basket away.",
+    "Use one arm to place the card box with golden designs in the woven basket, adjust the woven basket.",
+    "Place the rectangular blue playingcards case in the basket for holding items, then grab the basket for holding items.",
+    "Set the palm-sized playingcards carton in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Pick the playingcards box with white symbols and position it in the woven basket, move the woven basket slightly.",
+    "Put the box of playingcards in the brown basket, then move the brown basket away slightly.",
+    "Grab the blue playingcards box, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the box of playingcards and drop it in the basket with handle, then move the basket with handle.",
+    "Pick up the card box with golden designs, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick and move the playingcards pack with blue top, then shift 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.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the blue pack holding playingcards and set it inside the basket for carrying things.",
+    "Pick the smooth playingcards holder, place it in the basket for holding items, shift the basket for holding items.",
+    "Take the card box with golden designs, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Grab the rectangular blue playingcards case and drop it in the woven basket.",
+    "Grab the playingcards box with white symbols, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Grab the small playingcards container, drop in the smooth ribbed light brown basket, and move 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.",
+    "Move the blue playingcards box to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Pick up the blue and white playingcards packaging, put it in the light brown oval basket, shift the light brown oval 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.",
+    "Use one arm to place the playingcards box with white symbols in the basket with handle.",
+    "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.",
+    "Pick the playingcards pack with blue top, place it in the basket with loop handle.",
+    "Grab the card box with golden designs, drop it in the woven basket, shift the woven basket.",
+    "Pick the palm-sized playingcards carton, put it inside the light brown oval basket.",
+    "Place the blue pack holding playingcards into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Lift the small playingcards container, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Grab the blue and white playingcards packaging, set it into the brown basket with woven ridges.",
+    "Use the left arm to pick the card box with golden designs, then use the right arm for the basket with handle.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the smooth ribbed light brown basket.",
+    "Put the playingcards pack with blue top in the brown basket and pull the brown basket away.",
+    "Use one arm to place the blue pack holding playingcards in the basket with loop handle, adjust the basket with loop handle.",
+    "Place the card box with golden designs in the basket for holding items, then grab the basket for holding items.",
+    "Set the playingcards pack with blue top in the basket with handle, and shift the basket with handle away.",
+    "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.",
+    "Pick the playingcards box with white symbols and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Put the box of playingcards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "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 blue carton for playingcards and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick up the blue carton for playingcards, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick and move the small playingcards container, then shift the basket with handle.",
+    "Lift the playingcards box with white symbols, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Take the blue playingcards box, put the blue playingcards box into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the blue carton for playingcards and set it inside the basket for carrying things.",
+    "Pick the playingcards box with white symbols, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "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 blue playingcards box and drop it in the basket for carrying things.",
+    "Grab the small playingcards container, place it in the basket for holding items, then move the basket for holding items away.",
+    "Grab the blue playingcards box, drop in the basket with handle, and move the basket with handle.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Move the card box with golden designs to the woven basket, then shift the woven basket.",
+    "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 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.",
+    "Use one arm to place the blue playingcards box in the light brown oval basket.",
+    "Use the left arm to grab the box of playingcards, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick the playingcards pack with blue top, place it in the basket for carrying things.",
+    "Grab the blue pack holding playingcards, drop it in the woven basket, shift the woven basket.",
+    "Pick the palm-sized playingcards carton, put it inside the wooden basket with curved handle.",
+    "Place the blue and white playingcards packaging into the woven basket and push the woven basket slightly away.",
+    "Lift the small playingcards container, place it into the woven basket, move the woven basket.",
+    "Grab the card box with golden designs, set it into the basket for carrying things.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the light brown oval basket.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the smooth ribbed light brown basket.",
+    "Put the blue playingcards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use one arm to place the playingcards pack with blue top in the basket for holding items, adjust the basket for holding items.",
+    "Place the smooth playingcards holder in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Set the blue and white playingcards packaging in the basket with loop handle, and shift the basket with loop handle away.",
+    "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 the palm-sized playingcards carton and position it in the woven basket, move the woven basket slightly.",
+    "Put the blue pack holding playingcards in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, then move 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.",
+    "Pick up the small playingcards container, place it in the wooden basket with curved handle, grab the wooden basket with curved handle."
+  ],
+  "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.",
+    "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.",
+    "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 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 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 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place 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.",
+    "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 case with patterns 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 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, 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 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.",
+    "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 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 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.",
+    "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 small packet of playingcards 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.",
+    "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 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, 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place 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.",
+    "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 oval basket with medium storage space and move it.",
+    "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 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 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.",
+    "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 rectangular playingcards pack and drop 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 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 rectangular playingcards pack 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 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.",
+    "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 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.",
+    "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 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, 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.",
+    "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 and drop 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 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 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 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 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 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 rectangular playingcards pack 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.",
+    "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, 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.",
+    "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 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 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 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, 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 rectangular playingcards case with patterns 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.",
+    "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.",
+    "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 case with patterns, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode18.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..44c702762a36ee3127fe258f2babfbc516010a45
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the blue pack holding playingcards 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 for holding items, shift 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.",
+    "Move the small playingcards container to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick and move the playingcards pack with blue top, then shift the smooth ribbed light 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.",
+    "Pick the small playingcards container and position it in the basket for holding items, move the basket for holding items slightly.",
+    "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.",
+    "Pick up the blue pack holding playingcards and set it inside the basket for carrying things.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the basket with handle, slide the basket with handle lightly.",
+    "Grab the blue and white playingcards packaging and drop it in the light brown oval basket.",
+    "Lift the palm-sized playingcards carton, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the blue carton for playingcards, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the playingcards pack with blue top, drop in the basket with handle, and move the basket with handle.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket with handle, shift the basket with handle.",
+    "Grab the small playingcards container, place it in the brown basket, then move the brown basket away.",
+    "Pick the card box with golden designs, place it in 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.",
+    "Grab the blue pack holding playingcards, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "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 card box with golden designs with one arm, drop the card box with golden designs in the smooth ribbed light brown 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.",
+    "Set the box of playingcards in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Put the blue and white playingcards packaging in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Use one arm to place the blue carton for playingcards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Grab the blue carton for playingcards, set it into the woven basket.",
+    "Pick the blue and white playingcards packaging, put it inside the smooth ribbed light brown 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.",
+    "Use the left arm to grab the small playingcards container, place it in the brown basket, and move the brown basket using the right arm.",
+    "Use one arm to place the playingcards pack with blue top in the oval-shaped basket with woven body.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the smooth ribbed light brown basket.",
+    "Lift the blue carton for playingcards, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Place the blue and white playingcards packaging in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the blue playingcards box, drop it in the basket for holding items, shift the basket for holding items.",
+    "Move the playingcards box with white symbols to the woven basket, then shift the woven basket.",
+    "Pick and move the rectangular blue playingcards case, then shift the oval-shaped basket with woven body.",
+    "Put the rectangular blue playingcards case in the basket for holding items and pull the basket for holding items away.",
+    "Pick the playingcards pack with blue top and position it in the light brown oval basket, move the light brown oval basket 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.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket with loop handle.",
+    "Pick the small playingcards container, drop the small playingcards container in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the card box with golden designs and drop it in the basket with loop handle.",
+    "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 small playingcards container, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Take the small playingcards container, put the small playingcards container into the basket for holding items, shift the basket for holding items.",
+    "Grab the card box with golden designs, place it in the woven basket, then move the woven basket away.",
+    "Pick the card box with golden designs, place it in the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case and drop it in the woven basket, then move the woven basket.",
+    "Grab the playingcards pack with blue top, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to grab the blue playingcards box, place 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 made of woven wood.",
+    "Take the card box with golden designs, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Set the blue playingcards box in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "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.",
+    "Put the small playingcards container in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Use one arm to place the playingcards pack with blue top in the brown basket, adjust the brown basket.",
+    "Grab the blue carton for playingcards, set it into the basket with loop handle.",
+    "Pick the blue and white playingcards packaging, put it inside the wooden basket with curved handle.",
+    "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.",
+    "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.",
+    "Use one arm to place the blue carton for playingcards in 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 for carrying things.",
+    "Lift the box of playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Place the blue playingcards box in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the smooth playingcards holder, place it in the brown basket, shift the brown basket.",
+    "Grab the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Move the card box with golden designs to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick and move the blue and white playingcards packaging, then shift the brown basket.",
+    "Put the palm-sized playingcards carton in the basket for holding items and pull the basket for holding items away.",
+    "Pick the blue playingcards box and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick up the playingcards box with white symbols, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick up the card box with golden designs and set it inside the oval-shaped basket with woven body.",
+    "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.",
+    "Grab the box of playingcards and drop it in the basket made of woven wood.",
+    "Lift the palm-sized playingcards carton, place it into the basket with handle, move the basket with handle.",
+    "Pick up the blue and white playingcards packaging, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the palm-sized playingcards carton, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the brown basket, shift the brown basket.",
+    "Grab the blue pack holding playingcards, place it in the basket with handle, then move the basket with handle away.",
+    "Pick the smooth playingcards holder, place it in the brown basket with woven ridges.",
+    "Pick up the palm-sized playingcards carton and drop it in the woven basket, then move the woven basket.",
+    "Grab the blue playingcards box, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket, then move the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the woven basket.",
+    "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.",
+    "Set the small playingcards container in the basket with handle, and shift the basket with handle away.",
+    "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.",
+    "Put the blue carton for playingcards in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket, adjust the brown basket.",
+    "Grab the blue pack holding playingcards, set it into the basket with handle.",
+    "Pick the card box with golden designs, put it inside the basket with loop handle.",
+    "Place the playingcards pack with blue top into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Use one arm to place the rectangular blue playingcards case in the basket for holding items.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the wooden basket with curved handle.",
+    "Lift the blue and white playingcards packaging, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Place the box of playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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.",
+    "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 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 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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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 place into 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, 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Pick up the rectangular playingcards case with patterns 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.",
+    "Grab the small packet of playingcards 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.",
+    "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.",
+    "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 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.",
+    "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 oval basket with medium storage space.",
+    "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.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack 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 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 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 into 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 medium basket with smooth texture, then shift 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 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 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 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 oval basket with medium storage space.",
+    "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 place into 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, 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.",
+    "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 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 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 small packet of playingcards and place into 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, 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 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.",
+    "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.",
+    "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.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode19.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaf4099eafcf956c8f4a96a820a04914b308b073
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the smooth ribbed light brown basket.",
+    "Pick the blue and white playingcards packaging, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, 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.",
+    "Pick and move the blue and white playingcards packaging, then shift the basket for carrying things.",
+    "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.",
+    "Grab the rectangular blue playingcards case, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the rectangular blue playingcards case in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the palm-sized playingcards carton, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the small playingcards container 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 card box with golden designs, place it in the basket made of woven wood.",
+    "Lift the playingcards box with white symbols, 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 woven basket.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the box of playingcards in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick the playingcards pack with blue top and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the brown basket, slide the brown basket lightly.",
+    "Put the box of playingcards in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Place the blue carton for playingcards in the basket for holding items, then grab the basket for holding items.",
+    "Place the playingcards pack with blue top into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "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.",
+    "Set the smooth playingcards holder in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the box of playingcards and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "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.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with handle.",
+    "Grab the box of playingcards, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Move the rectangular blue playingcards case to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the playingcards box with white symbols, set it into the basket with loop handle.",
+    "Take the blue pack holding playingcards, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the rectangular blue playingcards case, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Grab the playingcards pack with blue top and drop it in the basket with loop handle.",
+    "Pick the blue playingcards box, put it inside the brown basket with woven ridges.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the basket with loop handle.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the woven basket.",
+    "Pick the playingcards pack with blue top, place it in the woven basket, shift the woven 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 up the playingcards box with white symbols, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick and move the small playingcards container, then shift the basket with handle.",
+    "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.",
+    "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.",
+    "Grab the playingcards box with white symbols, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Lift the playingcards pack with blue top using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Pick the blue playingcards box, place it in the basket with handle.",
+    "Lift the palm-sized playingcards carton, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick up the smooth playingcards holder and set it inside the basket made of woven wood.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the light brown oval basket, shift the light brown oval basket.",
+    "Put the blue pack holding playingcards in the basket with handle and pull the basket with handle away.",
+    "Pick the blue and white playingcards packaging 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 brown basket, slide the brown basket lightly.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Place the box of playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Place the smooth playingcards holder into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Set the rectangular blue playingcards case in the woven basket, and shift the woven basket away.",
+    "Pick up the blue carton for playingcards and drop 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 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.",
+    "Use one arm to place the blue playingcards box in the basket for carrying things.",
+    "Grab the box of playingcards, place it in the brown basket, then move the brown basket away.",
+    "Move the blue pack holding playingcards to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards, set it into the light brown oval basket.",
+    "Take the palm-sized playingcards carton, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the small playingcards container, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Grab the card box with golden designs and drop it in the oval-shaped basket with woven body.",
+    "Pick the playingcards pack with blue top, put it inside the oval-shaped basket with woven body.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the basket with handle.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the brown basket.",
+    "Pick the box of playingcards, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the box of playingcards, put it in the basket with handle, shift the basket with handle a little.",
+    "Pick and move the blue and white playingcards packaging, then shift the basket with loop handle.",
+    "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.",
+    "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 small playingcards container in the basket for holding items, adjust the basket for holding items.",
+    "Grab the playingcards pack with blue top, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Lift the palm-sized playingcards carton 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 small playingcards container, place it in the oval-shaped basket with woven body.",
+    "Lift the small playingcards container, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick up the blue playingcards box and set it inside the basket with handle.",
+    "Take the blue carton for playingcards, put the blue carton for playingcards into the woven basket, shift the woven basket.",
+    "Put the palm-sized playingcards carton in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick the blue playingcards box and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the woven basket, slide the woven basket lightly.",
+    "Put the rectangular blue playingcards case in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Place the playingcards box with white symbols in the woven basket, then grab the woven 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.",
+    "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.",
+    "Set the smooth playingcards holder in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick up the card box with golden designs and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "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.",
+    "Use one arm to place the card box with golden designs in the brown basket with woven ridges.",
+    "Grab the box of playingcards, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Move the smooth playingcards holder to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Grab the blue carton for playingcards, set it into the basket made of woven wood.",
+    "Take the playingcards box with white symbols, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Pick up the blue playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the small playingcards container and drop it in the basket with handle.",
+    "Pick the blue carton for playingcards, put it inside the basket for carrying things.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the basket with loop handle."
+  ],
+  "unseen": [
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place 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.",
+    "Use one arm to grab the small packet of playingcards, 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.",
+    "Pick up the rectangular playingcards pack and drop 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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 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 pack and drop 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 case with patterns and put 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 put it into 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.",
+    "Use one arm to grab the small packet of playingcards, 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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards case with patterns and drop 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 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.",
+    "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 medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns 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 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 and drop 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 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.",
+    "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 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 pack, place 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 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.",
+    "Grab the rectangular playingcards case with patterns 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.",
+    "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 place into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges 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 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.",
+    "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.",
+    "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 basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "Place the rectangular playingcards pack 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 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.",
+    "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 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 into the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode2.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d73178251306e01178e284236564f554a19e0d2
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue playingcards box, place it in the brown basket, then move the brown basket away.",
+    "Place the playingcards box with white symbols in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the small playingcards container, place it in the oval-shaped basket with woven body.",
+    "Grab the small playingcards container and drop it in the light brown oval basket.",
+    "Pick the blue pack holding playingcards, place it in the brown basket with woven ridges, 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.",
+    "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 playingcards pack with blue top, then use the right arm for the basket with loop handle.",
+    "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.",
+    "Move the box of playingcards to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Place the smooth playingcards holder into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Lift the playingcards box with white symbols, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick the playingcards pack with blue top, put it inside the brown basket with woven ridges.",
+    "Lift the smooth playingcards holder, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket for holding items.",
+    "Grab the playingcards pack with blue top, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the basket with handle, shift the basket with handle.",
+    "Put the playingcards box with white symbols in the light brown oval basket and pull the light brown oval basket away.",
+    "Pick up the smooth playingcards holder and drop it in the smooth ribbed light brown basket, then move 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 grab the small playingcards container, place it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to place the blue pack holding playingcards in the basket made of woven wood.",
+    "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.",
+    "Set the rectangular blue playingcards case in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "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 up the small playingcards container, place it in the brown basket, grab the brown basket.",
+    "Grab the playingcards box with white symbols, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Take the box of playingcards, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick and move the playingcards pack with blue top, then shift the oval-shaped basket with woven body.",
+    "Grab the blue playingcards box, set it into the light brown oval basket.",
+    "Pick the blue carton for playingcards and position it in the woven basket, move the woven basket slightly.",
+    "Put the palm-sized playingcards carton in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the blue and white playingcards packaging, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick the smooth playingcards holder, place it in the woven basket.",
+    "Grab the blue pack holding playingcards and drop it in the brown basket.",
+    "Pick the blue pack holding playingcards, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the blue pack holding playingcards, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket made of woven wood.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the brown basket with woven ridges.",
+    "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.",
+    "Move the blue carton for playingcards to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Place the palm-sized playingcards carton into the woven basket and push the woven basket slightly away.",
+    "Lift the card box with golden designs, place it into the brown basket, move the brown basket.",
+    "Pick the blue pack holding playingcards, put it inside the smooth ribbed light brown basket.",
+    "Lift the palm-sized playingcards carton, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the basket made of woven wood.",
+    "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.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the brown basket, shift the brown basket.",
+    "Put the smooth playingcards holder in the brown basket and pull the brown basket away.",
+    "Pick up the rectangular blue playingcards case and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the playingcards pack with blue top, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the woven basket, then move the woven basket.",
+    "Use one arm to place the box of playingcards in the basket for holding items.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Set the blue carton for playingcards in the light brown oval basket, and shift the light brown oval basket away.",
+    "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.",
+    "Pick up the playingcards pack with blue top, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the smooth playingcards holder, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Take the rectangular blue playingcards case, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick and move the blue and white playingcards packaging, then shift the brown basket.",
+    "Grab the playingcards box with white symbols, set it into the brown basket.",
+    "Pick the card box with golden designs and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Put the playingcards pack with blue top in the basket for holding items, then move the basket for holding items away slightly.",
+    "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 away.",
+    "Place the card box with golden designs in the brown basket, then grab the brown basket.",
+    "Pick the blue carton for playingcards, place it in the woven basket.",
+    "Grab the blue and white playingcards packaging and drop it in the basket for carrying things.",
+    "Pick the blue and white playingcards packaging, place it in the woven basket, shift the woven 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.",
+    "Pick up the blue playingcards box and set it inside the basket with loop handle.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the light brown oval basket.",
+    "Use one arm to place the playingcards box with white symbols in the light brown oval basket, adjust the light brown oval basket.",
+    "Move the blue and white playingcards packaging to the brown basket, then shift the brown basket.",
+    "Use the left arm to grab the smooth playingcards holder, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Place the blue carton for playingcards into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the blue pack holding playingcards, place it into the light brown oval basket, move the light brown oval basket.",
+    "Pick the rectangular blue playingcards case, put it inside the oval-shaped basket with woven body.",
+    "Lift the playingcards box with white symbols, drop it in the woven basket, then slightly relocate the woven basket.",
+    "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 it in the brown basket, then move the brown basket.",
+    "Take the blue playingcards box, put the blue playingcards box 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.",
+    "Pick up the blue playingcards box and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the small playingcards container, drop it in the basket with loop handle, shift the basket with loop 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.",
+    "Use one arm to place the blue pack holding playingcards in the woven basket.",
+    "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.",
+    "Set the palm-sized playingcards carton in the basket for holding items, and shift the basket for holding items away.",
+    "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 up the blue pack holding playingcards, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Grab the palm-sized playingcards carton, drop in the woven basket, and move the woven basket.",
+    "Take the small playingcards container, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick and move the smooth playingcards holder, then shift the oval-shaped basket with woven body.",
+    "Grab the card box with golden designs, set it into the oval-shaped basket with woven body.",
+    "Pick the palm-sized playingcards carton and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Put the small playingcards container in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the blue carton for playingcards, place it in the basket with loop handle, then move the basket with loop handle away."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards case with patterns 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.",
+    "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.",
+    "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.",
+    "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 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 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 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, 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 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 basket with rounded edges.",
+    "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 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 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.",
+    "Grab the rectangular playingcards pack 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "Pick up the rectangular playingcards pack 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.",
+    "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 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 small packet of playingcards 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.",
+    "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 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 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.",
+    "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 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 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 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 case with patterns and drop 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 small packet of playingcards, 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 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 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 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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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 pack 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.",
+    "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 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 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.",
+    "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.",
+    "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 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 case with patterns 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode20.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..dee3b0b5de3c95ebad3ac9cb4f7621f9713a33c1
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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.",
+    "Grab the blue and white playingcards packaging, set it into the basket with handle.",
+    "Pick up the card box with golden designs and set it inside the basket with loop handle.",
+    "Pick the blue carton for playingcards, put it inside the basket made of woven wood.",
+    "Pick the playingcards box with white symbols, place it in the smooth ribbed light brown basket.",
+    "Use one arm to place the blue playingcards box in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick and move the card box with golden designs, then shift the basket with loop handle.",
+    "Pick up the blue and white playingcards packaging, 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 basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the blue and white playingcards packaging, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick up the box of playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "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 blue pack holding 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 blue pack holding playingcards, drop it in the woven basket, shift the woven basket.",
+    "Pick the blue carton for playingcards and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Grab the card box with golden designs, 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 brown basket, shift the brown basket.",
+    "Set the blue playingcards box in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "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 grab the smooth playingcards holder, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Grab the card box with golden designs and drop it in the basket made of woven wood.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket made of woven wood.",
+    "Lift the blue playingcards box, place it into the brown basket, move the brown basket.",
+    "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.",
+    "Place the playingcards pack with blue top in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Move the rectangular blue playingcards case to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the woven basket.",
+    "Put the blue carton for playingcards in the woven basket, then move the woven basket away 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.",
+    "Use one arm to place the blue pack holding playingcards in the basket made of woven wood.",
+    "Put the box of playingcards in the woven basket and pull the woven basket away.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket with handle, then move the basket with handle.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the smooth ribbed light brown basket, shift the smooth ribbed light brown 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.",
+    "Grab the playingcards box with white symbols, set it into the smooth ribbed light brown basket.",
+    "Pick up the box of playingcards and set it inside the light brown oval basket.",
+    "Pick the card box with golden designs, put it inside the wooden basket with curved handle.",
+    "Pick the small playingcards container, place it in the basket for carrying things.",
+    "Use one arm to place the box of playingcards in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick and move the small playingcards container, then shift the light brown oval basket.",
+    "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.",
+    "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 smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick up the rectangular blue playingcards case, place it in the brown basket, grab the brown basket.",
+    "Lift the blue carton for playingcards, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "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.",
+    "Grab the small playingcards container, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick the rectangular blue playingcards case and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Grab the blue pack holding playingcards, 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 oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Set the blue playingcards box in the brown basket, and shift the brown basket 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.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the smooth playingcards holder and drop it in the basket with loop handle.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the brown basket.",
+    "Lift the blue pack holding playingcards, place it into the woven basket, move the woven basket.",
+    "Grab the blue playingcards box, place it in the brown basket, then move the brown basket away.",
+    "Place the small playingcards container in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Move the rectangular blue playingcards case to the basket for carrying things, then shift the basket for carrying things.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the basket made of woven wood.",
+    "Put the playingcards box with white symbols in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Place the box of playingcards into the basket for holding items and push the basket for holding items slightly away.",
+    "Use one arm to place the rectangular blue playingcards case in the woven basket.",
+    "Put the blue pack holding playingcards in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the small playingcards container and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Take the blue playingcards box, put the blue playingcards box into the woven basket, shift the woven basket.",
+    "Use one arm to grab the card box with golden designs, place it in the brown basket, then move the brown basket.",
+    "Grab the rectangular blue playingcards case, set it into the woven basket.",
+    "Pick up the card box with golden designs and set it inside the brown basket with woven ridges.",
+    "Pick the blue playingcards box, put it inside the brown basket with woven ridges.",
+    "Pick the playingcards pack with blue top, place it in the brown basket with woven ridges.",
+    "Use one arm to place the blue carton for playingcards in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick and move the blue pack holding playingcards, then shift the basket for carrying things.",
+    "Pick up the small playingcards container, put it in the brown basket, shift the brown basket a little.",
+    "Take the blue playingcards box, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Grab the playingcards box with white symbols, drop in the brown basket, and move the brown basket.",
+    "Pick up the blue pack holding playingcards, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Lift the blue and white playingcards packaging, drop it in the basket made of woven wood, then slightly relocate 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.",
+    "Grab the smooth playingcards holder, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick the blue carton for playingcards and position it in the woven basket, move the woven basket slightly.",
+    "Grab the playingcards box with white symbols, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the box of playingcards, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Set the blue and white playingcards packaging in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the brown basket, slide the brown basket lightly.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Grab the playingcards box with white symbols and drop it in the light brown oval basket.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the brown basket with woven ridges.",
+    "Lift the blue carton for playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging, place it in the brown basket, then move the brown basket away.",
+    "Place the rectangular blue playingcards case in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Move the blue carton for playingcards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the basket with handle.",
+    "Put the smooth playingcards holder in the basket with handle, then move the basket with handle away slightly.",
+    "Place the blue playingcards box into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Use one arm to place the playingcards box with white symbols in the woven basket.",
+    "Put the blue carton for playingcards in the basket with handle and pull the basket with handle away.",
+    "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.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the brown basket, shift the brown basket.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket, then move the brown basket."
+  ],
+  "unseen": [
+    "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 basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in 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 small packet of playingcards, 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 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.",
+    "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.",
+    "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 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 small packet of playingcards, 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 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.",
+    "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.",
+    "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 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 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.",
+    "Grab the rectangular playingcards case with patterns 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 medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "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 pack to the medium basket with smooth texture, then shift 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 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 put it into 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 medium basket with smooth texture.",
+    "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 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, 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.",
+    "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 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 and drop in the basket with rounded edges.",
+    "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 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.",
+    "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 small packet of playingcards and put it into 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 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, 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 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 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 medium basket with smooth texture.",
+    "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.",
+    "Place the rectangular playingcards pack 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.",
+    "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 rectangular playingcards pack and put 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 small packet of playingcards and put it into 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 and drop in the basket with rounded edges.",
+    "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 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.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards pack and drop in 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 pack, 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.",
+    "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 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 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.",
+    "Pick up the rectangular playingcards pack and drop in 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 rectangular playingcards pack, place 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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode21.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..0043bbe5b3c6e6b5619c4ab054d4f93d87c864e3
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the card box with golden designs in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Grab the small playingcards container and drop it in the brown basket with woven ridges.",
+    "Use one arm to place the blue and white playingcards packaging in the brown basket, adjust the brown basket.",
+    "Pick and move the blue carton for playingcards, then shift the basket for carrying things.",
+    "Lift the palm-sized playingcards carton, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the basket for holding items, then move the basket for holding items.",
+    "Place the box of playingcards in the light brown oval basket, then grab the light brown oval basket.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the smooth ribbed light brown basket.",
+    "Take the box of playingcards, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "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 box of playingcards, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Pick up the box of playingcards and set it inside the wooden basket with curved handle.",
+    "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.",
+    "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.",
+    "Grab the box of playingcards, drop it in the basket with handle, shift the basket with handle.",
+    "Lift the blue pack holding playingcards, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the small playingcards container, put it inside the brown basket with woven ridges.",
+    "Pick up the blue and white playingcards packaging, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Grab the small playingcards container, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Pick up the playingcards box with white symbols, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Move the playingcards box with white symbols 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.",
+    "Place the smooth playingcards holder into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Use one arm to place the small playingcards container in the brown basket.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the brown basket with woven ridges.",
+    "Pick the smooth playingcards holder, place it in the basket for holding items, shift the basket for holding items.",
+    "Put the palm-sized playingcards carton in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Grab the blue playingcards box, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Pick the smooth playingcards holder and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the smooth playingcards holder, set it into the wooden basket with curved handle.",
+    "Set the palm-sized playingcards carton in the basket for carrying things, and shift the basket for carrying things away.",
+    "Grab the rectangular blue playingcards case and drop it in the woven basket.",
+    "Use one arm to place the card box with golden designs in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick and move the blue and white playingcards packaging, then shift the oval-shaped basket with woven body.",
+    "Lift the rectangular blue playingcards case, place it into the basket with handle, move the basket with handle.",
+    "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.",
+    "Place the playingcards pack with blue top in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the wooden basket with curved handle.",
+    "Take the small playingcards container, set it in the basket with handle, shift the basket with handle lightly.",
+    "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 rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown 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.",
+    "Pick up the playingcards pack with blue top and set it inside the wooden basket with curved handle.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Take the blue playingcards box, put the blue playingcards box 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.",
+    "Lift the blue pack holding playingcards, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the smooth playingcards holder, put it inside the basket with handle.",
+    "Pick up the blue carton for playingcards, 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 oval-shaped basket with woven body.",
+    "Grab the smooth playingcards holder, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the rectangular blue playingcards case, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Move the playingcards box with white symbols to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Put the smooth playingcards holder in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Place the blue and white playingcards packaging into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Use one arm to place the small playingcards container in the oval-shaped basket with woven body.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the basket made of woven wood.",
+    "Pick the blue playingcards box, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Grab the smooth playingcards holder, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Pick the playingcards box with white symbols and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Grab the palm-sized playingcards carton, set it into the basket for holding items.",
+    "Set the card box with golden designs in the light brown oval basket, and shift the light brown oval basket away.",
+    "Grab the box of playingcards and drop it in the basket for holding items.",
+    "Use one arm to place the playingcards pack with blue top in the basket for holding items, adjust the basket for holding items.",
+    "Pick and move the blue carton for playingcards, then shift the woven basket.",
+    "Lift the blue and white playingcards packaging, place it into the woven basket, move the woven basket.",
+    "Use one arm to grab the small playingcards container, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Place the blue pack holding playingcards in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the basket for carrying things.",
+    "Take the playingcards box with white symbols, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Lift the blue carton for playingcards 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 small playingcards container, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the brown basket, slide the brown basket lightly.",
+    "Pick up the card box with golden designs and set it inside the light brown oval basket.",
+    "Pick up the blue playingcards box and drop 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 light brown oval basket, shift the light brown oval basket.",
+    "Grab the smooth playingcards holder, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the smooth playingcards holder, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick the smooth playingcards holder, put it inside the brown basket with woven ridges.",
+    "Pick up the small playingcards container, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick the blue carton for playingcards, place it in the brown basket.",
+    "Grab the smooth playingcards holder, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown 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.",
+    "Move the blue pack holding playingcards to the light brown oval basket, then shift the light brown oval basket.",
+    "Put the smooth playingcards holder in the woven basket and pull the woven basket away.",
+    "Place the playingcards pack with blue top into the basket for holding items and push the basket for holding items slightly away.",
+    "Use one arm to place the box of playingcards in the woven basket.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the basket for holding items.",
+    "Pick the rectangular blue playingcards case, place it in the basket with handle, shift 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.",
+    "Grab the card box with golden designs, place it in the basket with handle, then move the basket with handle away.",
+    "Pick the blue playingcards box and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Grab the blue pack holding playingcards, set it into the light brown oval basket.",
+    "Set the playingcards box with white symbols in the woven basket, and shift the woven basket away."
+  ],
+  "unseen": [
+    "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.",
+    "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 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.",
+    "Pick up the small packet of playingcards and drop 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 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 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 case with patterns 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.",
+    "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 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 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 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 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.",
+    "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 rectangular playingcards case with patterns 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 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 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.",
+    "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.",
+    "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.",
+    "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 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 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 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.",
+    "Pick up the small packet of playingcards 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.",
+    "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 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 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 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 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 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 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 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 small packet of playingcards 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 basket with rounded edges, then shift the basket with rounded edges.",
+    "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 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 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, 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 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 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.",
+    "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 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.",
+    "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.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Place the small packet of playingcards 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 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 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 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, 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 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 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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode22.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..de509ec58b05ccb93cb2fc6da19f0929eb09d0c2
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the palm-sized playingcards carton and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Use the left arm to grab the playingcards box with white symbols, 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 blue playingcards box, put the blue playingcards box into the basket with loop handle, shift the basket with loop handle.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the brown basket with woven ridges.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the box of playingcards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the small playingcards container, set it into the basket for carrying things.",
+    "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.",
+    "Set the blue carton for playingcards in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick the card box with golden designs, 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 basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the rectangular blue playingcards case in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "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 up the rectangular blue playingcards case, place it in the basket with handle, grab the basket with handle.",
+    "Grab the blue and white playingcards packaging, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick the blue carton for playingcards, put it inside the basket with loop handle.",
+    "Pick up the blue playingcards box, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "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 smooth playingcards holder, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Put the small playingcards container in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Lift the rectangular blue playingcards case, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Grab the box of playingcards and drop it in the brown basket.",
+    "Move the small playingcards container to the basket for carrying things, then shift the basket for carrying things.",
+    "Place the palm-sized playingcards carton in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick and move the blue playingcards box, then shift the basket with loop handle.",
+    "Grab the card box with golden designs, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Use one arm to place the palm-sized playingcards carton in the basket with handle.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the smooth playingcards holder and set it inside the oval-shaped basket with woven body.",
+    "Take the playingcards pack with blue top, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Put the blue and white playingcards packaging in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Pick the blue carton for playingcards, place it in the basket for carrying things.",
+    "Lift the playingcards pack with blue top 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 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 smooth playingcards holder, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "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 small playingcards container with one arm, drop the small playingcards container in the basket with handle.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the playingcards pack with blue top, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Grab the playingcards pack with blue top, set it into the light brown oval basket.",
+    "Pick up the playingcards pack with blue top and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Set the palm-sized playingcards carton in the basket with handle, and shift the basket with handle away.",
+    "Pick the box of playingcards, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "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 playingcards box in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Use one arm to grab the small playingcards container, place it in the brown basket, then move the brown basket.",
+    "Pick up the smooth playingcards holder, place it in the wooden basket with curved handle, grab 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 the rectangular blue playingcards case, put it inside the woven basket.",
+    "Pick up the blue playingcards box, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Place the small playingcards container into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly 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 pack holding playingcards in the basket with handle and pull the basket with handle away.",
+    "Lift the playingcards pack with blue top, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the blue carton for playingcards and drop it in the basket with loop handle.",
+    "Move the smooth playingcards holder to the basket for carrying things, then shift the basket for carrying things.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick and move the playingcards pack with blue top, then shift the basket for holding items.",
+    "Grab the blue pack holding playingcards, drop in the basket with handle, and move the basket with handle.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the brown basket with woven ridges.",
+    "Pick up the blue pack holding playingcards and set it inside the oval-shaped basket with woven body.",
+    "Take the small playingcards container, set it in the basket with handle, shift the basket with handle lightly.",
+    "Put the rectangular blue playingcards case in the woven basket, then move the woven basket away slightly.",
+    "Pick the blue playingcards box, place it in the basket with loop handle.",
+    "Lift the blue and white playingcards packaging 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 blue and white playingcards packaging and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the woven basket, and move the woven basket using the right arm.",
+    "Take the small playingcards container, put the small playingcards container into the basket with loop handle, shift the basket with loop handle.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the basket for holding items.",
+    "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.",
+    "Grab the blue and white playingcards packaging, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Grab the playingcards box with white symbols, set it into the basket with handle.",
+    "Pick up the blue carton for playingcards and drop it in the brown basket, then move the brown basket.",
+    "Set the blue playingcards box in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick the rectangular blue playingcards case, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the blue pack holding playingcards, drop it in the woven basket, shift the woven basket.",
+    "Use one arm to place the card box with golden designs in the basket for carrying things, adjust the basket for carrying things.",
+    "Use one arm to grab the small playingcards container, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the playingcards box with white symbols, place it in the basket for holding items, grab the basket for holding items.",
+    "Grab the blue pack holding playingcards, drop it in the brown basket, then move the brown basket.",
+    "Pick the blue carton for playingcards, put it inside the woven basket.",
+    "Pick up the rectangular blue playingcards case, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Place the blue playingcards box into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Lift the blue and white playingcards packaging, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Put the playingcards pack with blue top in the basket for carrying things and pull the basket for carrying things away.",
+    "Lift the small playingcards container, place it into the brown basket, move the brown basket.",
+    "Grab the small playingcards container and drop it in the basket for carrying things.",
+    "Move the box of playingcards to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Place the blue pack holding playingcards in the basket for holding items, then grab the basket for holding items.",
+    "Pick and move the small playingcards container, then shift the brown basket.",
+    "Grab the small playingcards container, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Use one arm to place the card box with golden designs in the basket for holding items.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the wooden basket with curved handle.",
+    "Pick up the blue and white playingcards packaging and set it inside the brown basket.",
+    "Take the playingcards pack with blue top, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Put the blue carton for playingcards in the woven basket, then move the woven basket away slightly.",
+    "Pick the small playingcards container, place it in the smooth ribbed light brown basket.",
+    "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.",
+    "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."
+  ],
+  "unseen": [
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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, 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.",
+    "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 oval basket with medium storage space.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 small packet of playingcards, 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 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.",
+    "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.",
+    "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 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 medium basket with smooth texture.",
+    "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.",
+    "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, 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.",
+    "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.",
+    "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 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.",
+    "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 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 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 medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop 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 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 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 small packet of playingcards 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.",
+    "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 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, 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 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.",
+    "Grab the small packet of playingcards and place 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 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 oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop 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, 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.",
+    "Grab the rectangular playingcards pack 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.",
+    "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.",
+    "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.",
+    "Place the rectangular playingcards pack 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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 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."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode23.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee6a5a1075bd951faa402253760b1d176a273e2
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the woven basket, slide the woven basket lightly.",
+    "Lift the playingcards pack with blue top, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Put the playingcards pack with blue top in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Set the palm-sized playingcards carton in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body 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 palm-sized playingcards carton, put it in the woven basket, shift the woven basket a little.",
+    "Use one arm to place the small playingcards container in the brown basket with woven ridges.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use one arm to place the blue pack holding playingcards in the basket with handle, adjust the basket with handle.",
+    "Move the box of playingcards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Lift the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards, set it into the oval-shaped basket with woven body.",
+    "Pick the palm-sized playingcards carton, place it in the basket for carrying things.",
+    "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.",
+    "Place the playingcards pack with blue top into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket with handle.",
+    "Grab the rectangular blue playingcards case, drop in the brown basket, and move the brown basket.",
+    "Grab the small playingcards container, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "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.",
+    "Put the blue playingcards box in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the palm-sized playingcards carton and drop it in the basket for carrying things.",
+    "Pick the card box with golden designs and position it in the basket for holding items, move the basket for holding items slightly.",
+    "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.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket for carrying things.",
+    "Grab the blue pack holding playingcards, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the brown basket.",
+    "Take the blue pack holding playingcards, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Place the blue and white playingcards packaging in the basket for carrying things, then grab the basket for carrying things.",
+    "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 smooth playingcards holder, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Pick the palm-sized playingcards carton, put it inside the brown basket.",
+    "Pick and move the palm-sized playingcards carton, then shift the basket with loop handle.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the basket with handle, slide the basket with handle lightly.",
+    "Lift the blue and white playingcards packaging, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Put the palm-sized playingcards carton in the basket for carrying things and pull the basket for carrying things away.",
+    "Set the blue carton for playingcards in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick the blue carton for playingcards, 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.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with handle.",
+    "Pick up the blue pack holding playingcards and drop it in the woven basket, then move the woven basket.",
+    "Use one arm to place the blue pack holding playingcards in the brown basket, adjust the brown basket.",
+    "Move the box of playingcards to the basket for carrying things, then shift the basket for carrying things.",
+    "Grab the blue playingcards box, drop it in the basket with handle, then move the basket with handle.",
+    "Lift the box of playingcards, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Grab the smooth playingcards holder, set it into the basket for holding items.",
+    "Pick the playingcards pack with blue top, place it in the basket for carrying things.",
+    "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.",
+    "Place the rectangular blue playingcards case into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket made of woven wood.",
+    "Grab the blue carton for playingcards, drop in the basket with handle, and move the basket with 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 grab the rectangular blue playingcards case, place it in the basket for holding items, then move the basket for holding items.",
+    "Put the blue playingcards box in the woven basket, then move the woven basket away slightly.",
+    "Grab the playingcards box with white symbols and drop it in the wooden basket with curved handle.",
+    "Pick the blue pack holding playingcards and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "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.",
+    "Pick up the blue and white playingcards packaging and set it inside the brown basket with woven ridges.",
+    "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 pick the playingcards box with white symbols, then use the right arm for the basket with loop handle.",
+    "Take the blue and white playingcards packaging, set it in the woven basket, shift the woven basket lightly.",
+    "Place the rectangular blue playingcards case in the brown basket, then grab the brown basket.",
+    "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 up the blue pack holding playingcards, 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, put it inside the basket with loop handle.",
+    "Pick and move the smooth playingcards holder, then shift the brown basket with woven ridges.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the woven basket, slide the woven basket lightly.",
+    "Lift the playingcards box with white symbols, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Put the blue carton for playingcards in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Set the blue pack holding playingcards in the basket for holding items, and shift the basket for holding items away.",
+    "Pick the blue playingcards box, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the box of playingcards, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Use one arm to place the playingcards pack with blue top in the brown basket with woven ridges.",
+    "Pick up the blue and white playingcards packaging and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the smooth playingcards holder in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Move the smooth playingcards holder to the brown basket, then shift the brown basket.",
+    "Grab the blue and white playingcards packaging, drop it in the basket for holding items, then move the basket for holding items.",
+    "Lift the blue carton for playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Grab the blue pack holding playingcards, set it into the basket with loop handle.",
+    "Pick the palm-sized playingcards carton, place it in the basket for holding items.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Place the blue pack holding playingcards into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the brown basket.",
+    "Grab the small playingcards container, drop in the brown basket, and move the brown basket.",
+    "Grab the smooth playingcards holder, drop it in the basket for holding items, shift the basket for holding items.",
+    "Use one arm to grab the playingcards box with white symbols, place 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 playingcards box and drop it in the brown basket with woven ridges.",
+    "Pick the blue playingcards box and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Take the blue playingcards box, put the blue playingcards box into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the blue playingcards box and set it inside the basket for carrying things.",
+    "Grab the blue carton for playingcards, 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 palm-sized playingcards carton, then use the right arm for the basket for holding items.",
+    "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 playingcards box in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "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 up the blue and white playingcards packaging, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick the blue pack holding playingcards, put it inside the basket for carrying things.",
+    "Pick and move the blue and white playingcards packaging, then shift the wooden basket with curved handle.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the basket with handle, slide the basket with handle lightly."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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.",
+    "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 small packet of playingcards, 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.",
+    "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.",
+    "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 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.",
+    "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 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 rectangular playingcards pack 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.",
+    "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.",
+    "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.",
+    "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 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 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 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.",
+    "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, 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 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 basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in 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 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.",
+    "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 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 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 small packet of playingcards 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.",
+    "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 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 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.",
+    "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 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 place into 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.",
+    "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 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 case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop 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 place 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 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.",
+    "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.",
+    "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 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 place into the basket with rounded edges.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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 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 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 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.",
+    "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 pack and put it into the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode24.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..34096fe9be5f2bb4ebd2aae3181a40255936d6e1
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the small playingcards container, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Pick the blue pack holding playingcards, place it in the wooden basket with curved handle.",
+    "Place the smooth playingcards holder into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Grab the small playingcards container and drop it in the basket for carrying things.",
+    "Lift the blue playingcards box, place it into the basket with loop handle, move 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.",
+    "Grab the smooth playingcards holder, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Put the box of playingcards in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "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.",
+    "Put the smooth playingcards holder in the basket for holding items and pull the basket for holding items away.",
+    "Grab the card box with golden designs, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the blue pack holding playingcards and set it inside the basket for holding items.",
+    "Take the playingcards box with white symbols, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the box of playingcards, drop in the basket for carrying things, and move the basket for carrying things.",
+    "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 made of woven wood, shift the basket made of woven wood a little.",
+    "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, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the blue carton for playingcards and drop it in the brown basket, then move the brown basket.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the basket with handle, slide the basket with handle lightly.",
+    "Grab the blue pack holding playingcards, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the blue playingcards box and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Use the left arm to pick the card box with golden designs, then use the right arm for the basket with loop handle.",
+    "Use one arm to place the small playingcards container in the basket for carrying things.",
+    "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.",
+    "Set the playingcards pack with blue top in the basket with handle, and shift the basket with handle away.",
+    "Pick and move the blue and white playingcards packaging, then shift the basket for holding items.",
+    "Move the box of playingcards to the basket with handle, then shift the basket with handle.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Place the playingcards box with white symbols in the woven basket, then grab the woven basket.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, set it into the brown basket.",
+    "Lift the small playingcards container, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "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 the palm-sized playingcards carton, place it in the basket for carrying things.",
+    "Place the palm-sized playingcards carton into the woven basket and push the woven basket slightly away.",
+    "Grab the blue carton for playingcards and drop it in the basket with handle.",
+    "Lift the palm-sized playingcards carton, place it into the woven basket, move the woven basket.",
+    "Use one arm to place the card box with golden designs in the brown basket, adjust the brown basket.",
+    "Grab the rectangular blue playingcards case, place it in the basket with loop handle, then move the basket with loop handle 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.",
+    "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.",
+    "Put the box of playingcards in the basket with handle and pull the basket with handle away.",
+    "Grab the box of playingcards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick up the blue playingcards box and set it inside the brown basket with woven ridges.",
+    "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 blue and white playingcards packaging, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the blue and white playingcards packaging, put it inside the woven basket.",
+    "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 palm-sized playingcards carton, place it in the basket with handle, shift the basket with handle.",
+    "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.",
+    "Pick up the smooth playingcards holder and drop it in the basket with handle, then move the basket with handle.",
+    "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 box of playingcards, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the playingcards pack with blue top and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the basket made of woven wood.",
+    "Use one arm to place the playingcards pack with blue top in the basket with handle.",
+    "Lift the palm-sized playingcards carton 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 box of playingcards in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Pick and move the palm-sized playingcards carton, then shift the oval-shaped basket with woven body.",
+    "Move the playingcards box with white symbols to the brown basket, then shift the brown basket.",
+    "Use one arm to grab the rectangular blue playingcards case, 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 wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the brown basket.",
+    "Grab the smooth playingcards holder, set it into the smooth ribbed light brown basket.",
+    "Lift the small playingcards container, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the blue carton for playingcards, place it in the woven basket.",
+    "Place the smooth playingcards holder into the brown basket and push the brown basket slightly away.",
+    "Grab the blue playingcards box and drop it in the basket for holding items.",
+    "Lift the blue pack holding playingcards, place it into the light brown oval basket, move the light brown oval basket.",
+    "Use one arm to place the card box with golden designs in the basket with handle, adjust the basket with handle.",
+    "Grab the card box with golden designs, place it in the woven basket, then move the woven basket away.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the basket for holding items, shift the basket for holding items.",
+    "Put the blue pack holding playingcards in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Grab the small playingcards container, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the playingcards pack with blue top and set it inside the basket for carrying things.",
+    "Take the box of playingcards, set it in the basket with handle, shift the basket with handle lightly.",
+    "Grab the blue pack holding playingcards, drop in the woven basket, and move the woven basket.",
+    "Pick the palm-sized playingcards carton, put it inside the basket for holding items.",
+    "Pick up the box of playingcards, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick the playingcards box with white symbols, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick up the rectangular blue playingcards case, place it in the basket with loop handle, grab 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.",
+    "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 palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick the blue carton for playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the light brown oval basket.",
+    "Use one arm to place the small playingcards container in the basket for holding items.",
+    "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.",
+    "Set the smooth playingcards holder in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick and move the rectangular blue playingcards case, then shift the light brown oval basket.",
+    "Move the box of playingcards 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 brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Place the playingcards box with white symbols 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 made of woven wood.",
+    "Grab the blue pack holding playingcards, set it into the light brown oval basket.",
+    "Lift the card box with golden designs, drop it in the woven basket, then slightly relocate the woven basket.",
+    "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."
+  ],
+  "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 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.",
+    "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.",
+    "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 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.",
+    "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 place into 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 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.",
+    "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 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 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 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.",
+    "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 small packet of playingcards 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 pack, 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.",
+    "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 place into 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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "Grab the rectangular playingcards pack, 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.",
+    "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.",
+    "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 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 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 pack in the oval basket with medium storage space 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 pack and place into 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 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 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, 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 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 place into 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.",
+    "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 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.",
+    "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.",
+    "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 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 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, 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.",
+    "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.",
+    "Grab the rectangular playingcards pack 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 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 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 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 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 medium basket with smooth texture.",
+    "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 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.",
+    "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 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 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."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode25.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2c3ac66d446e8aaa2eca87828ba042f07fdaf3f
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the smooth playingcards holder in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Pick and move the small playingcards container, then shift the basket with loop handle.",
+    "Lift the box of playingcards, place it into the light brown oval basket, move the light brown oval basket.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the oval-shaped basket with woven body.",
+    "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 with one arm, drop the blue and white playingcards packaging in the brown basket with woven ridges.",
+    "Pick up the blue pack holding playingcards, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Place the blue playingcards box in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Grab the palm-sized playingcards carton, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the woven basket, and move the woven basket using the right arm.",
+    "Pick the box of playingcards, put it inside the basket with handle.",
+    "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.",
+    "Place the blue pack holding playingcards into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the card box with golden designs, drop it in the basket with handle, shift the basket with handle.",
+    "Set the blue pack holding playingcards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Put the card box with golden designs in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick up the palm-sized playingcards carton and set it inside the oval-shaped basket with woven body.",
+    "Use one arm to place the smooth playingcards holder in the woven basket.",
+    "Use one arm to grab the card box with golden designs, place it in the woven basket, then move the woven basket.",
+    "Grab the blue playingcards box, set it into the oval-shaped basket with woven body.",
+    "Pick the palm-sized playingcards carton and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the box of playingcards and drop it in the basket with handle.",
+    "Take the palm-sized playingcards carton, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick the palm-sized playingcards carton, place it in the basket for holding items.",
+    "Take the small playingcards container, put the small playingcards container into the basket for carrying things, shift the basket for carrying things.",
+    "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 box of playingcards, place it in the basket with handle, then move the basket with handle away.",
+    "Pick the box of playingcards, place it in the basket for holding items, shift 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.",
+    "Pick up the box of playingcards, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Lift the card box with golden designs, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Use one arm to place the small playingcards container in the basket for carrying things, adjust the basket for carrying things.",
+    "Move the blue playingcards box to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Put the smooth playingcards holder in the basket with handle, then move the basket with handle away slightly.",
+    "Pick and move the blue pack holding playingcards, then shift the brown basket with woven ridges.",
+    "Lift the blue carton for playingcards, place it into the basket with handle, move the basket with handle.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the smooth ribbed light brown basket.",
+    "Pick up the smooth playingcards holder and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the basket made of woven wood.",
+    "Pick up the blue carton for playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Place the playingcards box with white symbols in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the blue and white playingcards packaging, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "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.",
+    "Pick the playingcards box with white symbols, put it inside the brown basket with woven ridges.",
+    "Lift the palm-sized playingcards carton 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.",
+    "Place the blue and white playingcards packaging into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the box of playingcards, drop it in the basket for holding items, shift the basket for holding items.",
+    "Set the blue playingcards box in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Put the box of playingcards in the basket for holding items and pull the basket for holding items away.",
+    "Pick up the playingcards box with white symbols and set it inside the woven basket.",
+    "Use one arm to place the small playingcards container in the basket for carrying things.",
+    "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.",
+    "Grab the blue pack holding playingcards, set it into the oval-shaped basket with woven body.",
+    "Pick the small playingcards container 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 playingcards box with white symbols, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick the smooth playingcards holder, place it in the basket for carrying things.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "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.",
+    "Pick the blue carton for playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "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 basket for holding items, grab the basket for holding items.",
+    "Lift the palm-sized playingcards carton, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Use one arm to place the blue playingcards box in the brown basket, adjust the brown basket.",
+    "Move the playingcards box with white symbols to the basket with loop handle, then shift the basket with loop handle.",
+    "Put the rectangular blue playingcards case in the woven basket, then move the woven basket away slightly.",
+    "Pick and move the rectangular blue playingcards case, then shift the wooden basket with curved handle.",
+    "Lift the playingcards pack with blue top, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the light brown oval basket.",
+    "Pick up the blue pack holding playingcards and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the basket with loop handle.",
+    "Pick up the blue and white playingcards packaging, put it in the woven basket, shift the woven basket a little.",
+    "Place the blue carton for playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Grab the blue pack holding playingcards, drop it in the basket for holding items, then move the basket for holding items.",
+    "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 the box of playingcards, put it inside the wooden basket with curved handle.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "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 palm-sized playingcards carton, drop it in the smooth ribbed light brown basket, shift 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.",
+    "Put the blue and white playingcards packaging in the light brown oval basket and pull the light brown oval basket away.",
+    "Pick up the blue pack holding playingcards and set it inside the basket made of woven wood.",
+    "Use one arm to place the blue playingcards box in the oval-shaped basket with woven body.",
+    "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.",
+    "Grab the palm-sized playingcards carton, set it into the light brown oval basket.",
+    "Pick the small playingcards container and position it in the woven basket, move the woven basket slightly.",
+    "Grab the small playingcards container and drop it in the basket made of woven wood.",
+    "Take the palm-sized playingcards carton, set it in the woven basket, shift the woven basket lightly.",
+    "Pick the card box with golden designs, place it in 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.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the playingcards pack with blue top, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick the blue and white playingcards packaging, place it in the basket with handle, shift the basket with handle.",
+    "Grab the blue playingcards box, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the playingcards pack with blue top, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Lift the card box with golden designs, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Use one arm to place the playingcards box with white symbols in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Move the smooth playingcards holder to the brown basket, then shift the brown basket.",
+    "Put the card box with golden designs in the brown basket, then move the brown basket away slightly."
+  ],
+  "unseen": [
+    "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.",
+    "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 into 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.",
+    "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 basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, 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 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 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 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.",
+    "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 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 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 into 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, 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 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 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 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 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 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 case with patterns 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.",
+    "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.",
+    "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 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 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.",
+    "Pick up the rectangular playingcards case with patterns 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.",
+    "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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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 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.",
+    "Pick up the small packet of playingcards 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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 basket with rounded edges.",
+    "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.",
+    "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.",
+    "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 basket with rounded edges, then shift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode26.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..df84b98f063c4e19cb5a48656cc2371ca1083c4d
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue pack holding playingcards, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the small playingcards container 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 box of playingcards, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Grab the blue playingcards box, set it into the wooden basket with curved handle.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the brown basket.",
+    "Move the box of playingcards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the oval-shaped basket with woven body, move 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.",
+    "Set the box of playingcards in the brown basket, and shift the brown basket away.",
+    "Pick up the card box with golden designs, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Grab the blue and white playingcards packaging, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the blue playingcards box, place it in the basket with handle, then move the basket with handle away.",
+    "Place the playingcards box with white symbols in the basket with loop handle, then grab the basket with loop handle.",
+    "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 grab the smooth playingcards holder, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "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.",
+    "Pick up the palm-sized playingcards carton and set it inside the basket for holding items.",
+    "Pick the playingcards box with white symbols, put it inside the basket made of woven wood.",
+    "Grab the playingcards box with white symbols and drop it in the brown basket.",
+    "Grab the card box with golden designs, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Take the box of playingcards, put the box of playingcards into the basket for carrying things, shift the basket for carrying things.",
+    "Pick the box of playingcards, place it in the basket for holding items.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the light brown oval basket.",
+    "Use one arm to place the playingcards pack with blue top in the basket made of woven wood.",
+    "Pick up the small playingcards container and drop 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.",
+    "Put the blue pack holding playingcards in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "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.",
+    "Pick and move the blue carton for playingcards, then shift 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.",
+    "Take the blue carton for playingcards, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Put the blue pack holding playingcards in the basket for carrying things and pull the basket for carrying things away.",
+    "Use one arm to place the rectangular blue playingcards case in the brown basket, adjust the brown basket.",
+    "Grab the palm-sized playingcards carton, drop in the woven basket, and move the woven basket.",
+    "Pick the blue and white playingcards packaging and position it in the basket for holding items, move the basket for holding items slightly.",
+    "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.",
+    "Grab the blue pack holding playingcards, set it into 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 with woven ridges.",
+    "Move the blue playingcards box to the brown basket, then shift the brown basket.",
+    "Lift the blue and white playingcards packaging, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick the playingcards pack with blue top, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Set the playingcards box with white symbols in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick up the blue pack holding playingcards, put it in the basket with handle, shift the basket with handle a little.",
+    "Grab the blue and white playingcards packaging, drop 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 basket for carrying things, then move the basket for carrying things away.",
+    "Place the blue carton for playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Lift the playingcards pack with blue top, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "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.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Pick up the smooth playingcards holder and set it inside the smooth ribbed light brown basket.",
+    "Pick the blue carton for playingcards, put it inside the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case and drop it in the basket made of woven wood.",
+    "Grab the box of playingcards, drop it in the woven basket, shift the woven basket.",
+    "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.",
+    "Pick the small playingcards container, place it in the woven basket.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the basket with handle.",
+    "Use one arm to place the rectangular blue playingcards case in the brown basket.",
+    "Pick up the blue carton for playingcards and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the palm-sized playingcards carton, place it in the woven basket, grab the woven basket.",
+    "Put the box of playingcards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "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 and move the playingcards pack with blue top, then shift the basket with loop handle.",
+    "Place the playingcards pack with blue top into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Take the card box with golden designs, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Put the blue playingcards box in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Use one arm to place the small playingcards container in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the smooth playingcards holder, drop in the basket with handle, and move the basket with handle.",
+    "Pick the small playingcards container and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Use the left arm to grab the blue carton for 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 blue playingcards box, set it into the basket for carrying things.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the oval-shaped basket with woven body.",
+    "Move the smooth playingcards holder to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Lift the blue and white playingcards packaging, place it into the basket for holding items, move the basket for holding items.",
+    "Pick the playingcards pack with blue top, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Set the small playingcards container in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "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.",
+    "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, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Place the blue playingcards box in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Lift the playingcards pack with blue top, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the basket for holding items, then move the basket for holding items.",
+    "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 playingcards pack with blue top and set it inside the basket for holding items.",
+    "Pick the blue playingcards box, put it inside the smooth ribbed light brown basket.",
+    "Grab the playingcards box with white symbols and drop it in the basket with handle.",
+    "Grab the playingcards box with white symbols, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the blue playingcards box, place it in the brown basket with woven ridges.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the smooth ribbed light brown basket.",
+    "Use one arm to place the box of playingcards in the wooden basket with curved handle.",
+    "Pick up the playingcards pack with blue top and drop it in the basket with handle, then move the basket with handle.",
+    "Pick up the smooth playingcards holder, place it in the brown basket, grab the brown basket.",
+    "Put the rectangular blue playingcards case in the basket for holding items, then move the basket for holding items away slightly.",
+    "Lift the blue playingcards box 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 playingcards box with white symbols, then shift the basket made of woven wood.",
+    "Place the playingcards pack with blue top into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Take the blue and white playingcards packaging, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Put the playingcards box with white symbols in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Use one arm to place the smooth playingcards holder 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."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 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.",
+    "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.",
+    "Grab the small packet of playingcards and put 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.",
+    "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 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 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 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 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, 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.",
+    "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 basket with rounded edges.",
+    "Grab the small packet of playingcards 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, 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.",
+    "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 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.",
+    "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 and drop in the medium basket with smooth texture.",
+    "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.",
+    "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 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, 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.",
+    "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 and place 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 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.",
+    "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 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.",
+    "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 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 medium basket with smooth texture 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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack 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.",
+    "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 put 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.",
+    "Use one arm to grab the rectangular playingcards pack, place 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.",
+    "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.",
+    "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 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."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode27.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c13e1be6f5c7c2ed0f40dd49f2613118d47864f
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the brown basket.",
+    "Pick up the blue carton for playingcards and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "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 away.",
+    "Grab the blue playingcards box, set it into the brown basket.",
+    "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.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket for holding items, shift the basket for holding items.",
+    "Put the smooth playingcards holder in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick up the box of playingcards, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick up the rectangular blue playingcards case and set it inside the wooden basket with curved handle.",
+    "Pick and move the blue carton for playingcards, then shift the basket made of woven wood.",
+    "Place the small playingcards container in the light brown oval basket, then grab the light brown oval basket.",
+    "Lift the smooth playingcards holder, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Place the smooth playingcards holder into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the blue playingcards box, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the smooth playingcards holder, drop it in the basket with handle, then move the basket with handle.",
+    "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 the playingcards box with white symbols, place it in the wooden basket with curved handle.",
+    "Use one arm to grab the smooth playingcards holder, place it in the basket with loop handle, then move 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.",
+    "Set the rectangular blue playingcards case in the basket with loop handle, and shift the basket with loop handle away.",
+    "Move the blue playingcards box to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the small playingcards container, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the smooth playingcards holder and position it in the brown basket, move the brown basket slightly.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the basket for carrying things.",
+    "Take the rectangular blue playingcards case, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the blue playingcards box and drop it in the basket with handle.",
+    "Lift the blue carton for playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Put the playingcards box with white symbols in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Pick the box of playingcards, put it inside the basket for holding items.",
+    "Pick up the rectangular blue playingcards case, place it in the brown basket, grab the brown basket.",
+    "Use one arm to place the blue pack holding playingcards in 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.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the basket made of woven wood.",
+    "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 small playingcards container, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the blue pack holding playingcards, set it into the brown basket with woven ridges.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the woven basket, slide the woven basket lightly.",
+    "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 blue and white playingcards packaging in the light brown oval basket and pull the light brown oval basket away.",
+    "Pick up the card box with golden designs, put it in the brown basket, shift the brown basket a little.",
+    "Pick up the card box with golden designs and set it inside the brown basket.",
+    "Pick and move the blue playingcards box, then shift the wooden basket with curved handle.",
+    "Place the smooth playingcards holder in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the blue carton for playingcards, place it into the smooth ribbed light brown basket, move 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.",
+    "Pick the playingcards pack with blue top, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the playingcards pack with blue top, drop it in the basket with handle, then move the basket with handle.",
+    "Use the left arm to grab the small playingcards container, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Pick the palm-sized playingcards carton, place it in the basket for holding items.",
+    "Use one arm to grab the blue playingcards box, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the playingcards pack with blue top, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Set the blue playingcards box in the woven basket, and shift the woven basket away.",
+    "Move the playingcards pack with blue top to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Grab the blue carton for playingcards, drop in the woven basket, and move the woven basket.",
+    "Pick the card box with golden designs and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the brown basket.",
+    "Take the small playingcards container, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the small playingcards container and drop it in the basket with loop handle.",
+    "Lift the playingcards pack with blue top, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Put the small playingcards container in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "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 box of playingcards, put it inside the basket for carrying things.",
+    "Pick up the playingcards pack with blue top, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Use one arm to place the small playingcards container in the 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.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the smooth ribbed light brown 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.",
+    "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.",
+    "Grab the blue carton for playingcards, set it into the wooden basket with curved handle.",
+    "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.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket for carrying things, shift the basket for carrying things.",
+    "Put the playingcards pack with blue top in the basket with loop handle and pull the basket with loop handle away.",
+    "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.",
+    "Pick up the small playingcards container and set it inside the smooth ribbed light brown basket.",
+    "Pick and move the playingcards box with white symbols, then shift the wooden basket with curved handle.",
+    "Place the blue pack holding playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the small playingcards container, place it into the light brown oval basket, move the light brown oval basket.",
+    "Place the playingcards box with white symbols into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the palm-sized playingcards carton, place it in the basket for holding items, shift the basket for holding items.",
+    "Grab the playingcards pack with blue top, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "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 blue and white playingcards packaging, place it in the wooden basket with curved handle.",
+    "Use one arm to grab the blue playingcards box, place it in the basket for holding items, then move the basket for holding items.",
+    "Grab the playingcards box with white symbols, drop it in the brown basket, shift the brown basket.",
+    "Set the blue carton for playingcards in the basket with handle, and shift the basket with handle away.",
+    "Move the small playingcards container to the woven basket, then shift the woven basket.",
+    "Grab the box of playingcards, 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 basket with loop handle, move the basket with loop handle slightly.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the smooth ribbed light brown basket.",
+    "Take the palm-sized playingcards carton, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Grab the card box with golden designs and drop it in the oval-shaped basket with woven body.",
+    "Lift the blue carton for playingcards, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Put the palm-sized playingcards carton in the brown basket with woven ridges, then move the brown basket with woven ridges 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.",
+    "Pick the blue carton for playingcards, put it inside the basket for carrying things.",
+    "Pick up the blue and white playingcards packaging, place it in the woven basket, grab the woven basket.",
+    "Use one arm to place the blue playingcards box in the basket for holding items.",
+    "Use one arm to place the blue and white playingcards packaging in the basket for holding items, adjust the basket for holding items.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "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 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.",
+    "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 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.",
+    "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 small packet of playingcards 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 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.",
+    "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 small packet of playingcards and put 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 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 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 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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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 pack and put 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 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 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 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 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, 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 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 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 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.",
+    "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 rectangular playingcards case with patterns 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.",
+    "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.",
+    "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.",
+    "Place the rectangular playingcards case with patterns 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.",
+    "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.",
+    "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.",
+    "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 medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "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.",
+    "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 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.",
+    "Grab the rectangular playingcards pack 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 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.",
+    "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 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 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 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 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 pack 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, 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."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode28.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..9313c8e166303a825ab18cb189a871f6d78b57fd
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the playingcards pack with blue top in the woven basket, adjust the woven basket.",
+    "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.",
+    "Lift the rectangular blue playingcards case, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the playingcards box with white symbols, 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 light brown oval basket, shift the light brown oval basket.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the basket with handle.",
+    "Place the rectangular blue playingcards case in the basket for carrying things, then grab the basket for carrying things.",
+    "Put the small playingcards container in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Set the playingcards pack with blue top in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Use one arm to place the smooth playingcards holder in the wooden basket with curved handle.",
+    "Place the small playingcards container into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick up the box of playingcards, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Pick up the card box with golden designs, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick the card box with golden designs, place it in the smooth ribbed light brown basket.",
+    "Move the smooth playingcards holder to the light brown oval basket, then shift the light brown oval basket.",
+    "Grab the playingcards pack with blue top, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Lift the playingcards pack with blue top 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 playingcards pack with blue top, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Lift the small playingcards container, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging, drop it in the woven basket, shift 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.",
+    "Pick and move the playingcards pack with blue top, then shift the basket for holding items.",
+    "Pick up the playingcards box with white symbols and set it inside the light brown oval basket.",
+    "Pick the rectangular blue playingcards case, put it inside the smooth ribbed light brown basket.",
+    "Take the palm-sized playingcards carton, set it in the brown basket, shift the brown basket lightly.",
+    "Put the blue and white playingcards packaging in the light brown oval basket and pull the light brown oval basket away.",
+    "Pick up the box of playingcards and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the rectangular blue playingcards case and drop it in the light brown oval 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.",
+    "Grab the blue pack holding playingcards, set it into the basket made of woven wood.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the oval-shaped basket with woven body.",
+    "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.",
+    "Use one arm to grab the blue playingcards box, place it in the woven basket, then move the woven basket.",
+    "Use one arm to place the playingcards box with white symbols in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "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.",
+    "Lift the card box with golden designs, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the blue pack holding playingcards, place it in the basket with loop handle, then move the basket with loop 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.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the smooth ribbed light brown basket.",
+    "Place the palm-sized playingcards carton in the light brown oval basket, then grab the light brown oval basket.",
+    "Put the smooth playingcards holder in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Set the small playingcards container in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the blue playingcards box in the smooth ribbed light brown basket.",
+    "Place the card box with golden designs into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick up the smooth playingcards holder, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick up the box of playingcards, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the small playingcards container, place it in the brown basket with woven ridges.",
+    "Move the rectangular blue playingcards case to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Grab the blue pack holding playingcards, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "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.",
+    "Grab the blue playingcards box, drop it in the woven basket, then move the woven basket.",
+    "Lift the small playingcards container, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the smooth playingcards holder, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the blue pack holding playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick and move the smooth playingcards holder, then shift the basket for carrying things.",
+    "Pick up the smooth playingcards holder and set it inside the woven basket.",
+    "Pick the playingcards pack with blue top, put it inside the basket made of woven wood.",
+    "Take the palm-sized playingcards carton, set it in the woven basket, shift the woven basket lightly.",
+    "Put the blue playingcards box in the light brown oval basket and pull the light brown oval basket away.",
+    "Pick up the blue and white playingcards packaging and drop it in the woven basket, then move the woven basket.",
+    "Grab the playingcards pack with blue top and drop it in 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.",
+    "Grab the card box with golden designs, set it into the basket made of woven wood.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket with handle.",
+    "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.",
+    "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.",
+    "Use one arm to place the rectangular blue playingcards case in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Lift the blue and white playingcards packaging, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the blue carton for playingcards, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick the smooth playingcards holder, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the brown basket.",
+    "Place the smooth playingcards holder in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Put the box of playingcards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Set the blue and white playingcards packaging in the light brown oval basket, and shift the light brown oval basket away.",
+    "Use one arm to place the box of playingcards in the basket with 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.",
+    "Pick up the blue playingcards box, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick up the palm-sized playingcards carton, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the small playingcards container, place it in the basket with handle.",
+    "Move the blue pack holding playingcards to the basket with handle, then shift the basket with handle.",
+    "Grab the rectangular blue playingcards case, drop in the oval-shaped basket with woven body, and move 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 palm-sized playingcards carton, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "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 smooth playingcards holder, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the blue playingcards box and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick and move the blue pack holding playingcards, then shift the basket for carrying things.",
+    "Pick up the palm-sized playingcards carton and set it inside the brown basket.",
+    "Pick the blue playingcards box, put it inside the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Put the playingcards box with white symbols in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick up the smooth playingcards holder and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the playingcards box with white symbols and drop it in the basket for holding items.",
+    "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.",
+    "Grab the small playingcards container, set it into the basket for carrying things.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the brown basket.",
+    "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.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the playingcards box with white symbols in the basket for holding items, adjust the basket for holding items."
+  ],
+  "unseen": [
+    "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 place 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 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 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.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 and drop in 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 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 into 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 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 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 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.",
+    "Grab the rectangular playingcards pack 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.",
+    "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 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.",
+    "Pick up the small packet of playingcards and drop in 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 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 rectangular playingcards pack 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.",
+    "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.",
+    "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 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 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 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.",
+    "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 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.",
+    "Pick up the rectangular playingcards pack and drop 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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.",
+    "Pick up the rectangular playingcards pack and drop 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 small packet of playingcards, 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode3.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..35df196008e53960cd08ade89c4dedb1b8554dd2
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the light brown oval basket.",
+    "Pick and move the blue playingcards box, then shift the smooth ribbed light brown basket.",
+    "Place the smooth playingcards holder in the basket for holding items, then grab the basket for holding items.",
+    "Put the blue pack holding playingcards in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Pick up the blue and white playingcards packaging and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the blue pack holding playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Grab the card box with golden designs, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the playingcards box with white symbols and drop it in the oval-shaped basket with woven body.",
+    "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 rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the basket for holding items.",
+    "Pick the playingcards box with white symbols, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Place the playingcards pack with blue top into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Grab the blue carton for playingcards, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "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.",
+    "Set the blue carton for playingcards in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the box of playingcards, set it into the basket with handle.",
+    "Pick up the box of playingcards and set it inside the light brown oval basket.",
+    "Pick the card box with golden designs, place it in the brown basket with woven ridges.",
+    "Pick up the small playingcards container, place it in the woven basket, grab the woven basket.",
+    "Use one arm to place the blue and white playingcards packaging in the brown basket with woven ridges.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the brown basket, then move the brown basket.",
+    "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.",
+    "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 rectangular blue playingcards case, place it in the woven basket, then move the woven basket away.",
+    "Lift the small playingcards container, place it into the basket with loop handle, move the basket with loop handle.",
+    "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 box of playingcards, put it inside the brown basket.",
+    "Use one arm to place the playingcards box with white symbols in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the blue pack holding playingcards, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Move the box of playingcards to the basket with handle, then shift the basket with handle.",
+    "Put the box of playingcards in the woven basket and pull the woven basket away.",
+    "Take the blue playingcards box, put the blue playingcards box into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "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.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the basket for carrying things.",
+    "Pick and move the blue playingcards box, then shift the light brown oval basket.",
+    "Place the rectangular blue playingcards case in the basket with handle, then grab the basket with handle.",
+    "Put the playingcards pack with blue top in the brown basket, then move the brown basket away slightly.",
+    "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 blue playingcards box and position it in the basket with handle, move the basket with handle slightly.",
+    "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.",
+    "Grab the box of playingcards and drop it in the basket with handle.",
+    "Lift the blue playingcards box 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 and white playingcards packaging with one arm, drop the blue and white playingcards packaging in 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.",
+    "Place the blue playingcards box into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Grab the rectangular blue playingcards case, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "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 blue and white playingcards packaging in the light brown oval basket, and shift the light brown oval basket away.",
+    "Grab the small playingcards container, set it into the basket with loop handle.",
+    "Pick up the blue playingcards box and set it inside the basket for holding items.",
+    "Pick the card box with golden designs, place it in the woven basket.",
+    "Pick up the rectangular blue playingcards case, place it in the woven basket, grab the woven basket.",
+    "Use one arm to place the card box with golden designs in the brown basket with woven ridges.",
+    "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 card box with golden designs, drop the card box with golden designs in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Take the playingcards pack with blue top, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Grab the small playingcards container, place it in the basket for holding items, then move the basket for holding items away.",
+    "Lift the small playingcards container, place it into the brown basket, move the brown basket.",
+    "Lift the small playingcards container, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Pick the palm-sized playingcards carton, put it inside the oval-shaped basket with woven body.",
+    "Use one arm to place the small playingcards container in the brown basket, adjust the brown basket.",
+    "Grab the blue playingcards box, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Move the card box with golden designs 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 handle and pull the basket with handle away.",
+    "Take the small playingcards container, put the small playingcards container into the basket with loop handle, shift the basket with loop handle.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the basket for carrying things.",
+    "Pick and move the card box with golden designs, then shift the basket with handle.",
+    "Place the card box with golden designs in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Put the rectangular blue playingcards case in the basket for holding items, then move the basket for holding items away slightly.",
+    "Pick up the small playingcards container and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick the palm-sized playingcards carton and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Grab the playingcards pack with blue top, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the small playingcards container and drop it in the brown basket.",
+    "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.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the light brown oval basket.",
+    "Pick the blue pack holding playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Place the palm-sized playingcards carton into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Grab the playingcards box with white symbols, drop it in the woven basket, shift the woven basket.",
+    "Pick up the small playingcards container, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Set the blue carton for playingcards 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 brown basket with woven ridges.",
+    "Pick up the playingcards box with white symbols and set it inside the basket for holding items.",
+    "Pick the palm-sized playingcards carton, place it in 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.",
+    "Use one arm to place the smooth playingcards holder in the brown basket.",
+    "Use one arm to grab the card box with golden designs, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Take the blue pack holding playingcards, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the palm-sized playingcards carton, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Lift the blue carton for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Lift the small playingcards container, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Pick the smooth playingcards holder, put it inside the brown basket with woven ridges.",
+    "Use one arm to place the blue pack holding playingcards in the basket for holding items, adjust the basket for holding items.",
+    "Grab the box of playingcards, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Move the palm-sized playingcards carton to the brown basket, then shift the brown basket.",
+    "Put the playingcards box with white symbols in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Take the small playingcards container, put the small playingcards container into the brown basket, shift the brown basket.",
+    "Use the left arm to grab the blue playingcards box, place it in the light brown oval basket, and move the light brown oval basket using the right arm."
+  ],
+  "unseen": [
+    "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 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 in 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 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.",
+    "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.",
+    "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 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 in 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 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 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, 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.",
+    "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 case with patterns 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.",
+    "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.",
+    "Place the small packet of playingcards 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.",
+    "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 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 in 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 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.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges 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 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 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 in 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 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, 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.",
+    "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 in 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 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 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, 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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 in 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 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.",
+    "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.",
+    "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 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 and put it in 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 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, 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.",
+    "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 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 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 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, 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.",
+    "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 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 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.",
+    "Grab the rectangular playingcards pack, 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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode30.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc6c1dd3ccd323adec4a2b56fd04564c9f6e531
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the card box with golden designs in the basket for carrying things and pull the basket for carrying things away.",
+    "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 blue carton for playingcards, put it inside the woven basket.",
+    "Grab the small playingcards container and drop it in the oval-shaped basket with woven body.",
+    "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 small playingcards container, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Take the blue carton for playingcards, set it in the basket with handle, shift the basket with handle lightly.",
+    "Pick up the blue pack holding playingcards and drop it in the basket for holding items, then move 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.",
+    "Set the blue pack holding playingcards in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Grab the card box with golden designs, drop in the basket with loop handle, and move 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 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 up the palm-sized playingcards carton, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Pick up the blue playingcards box, put it in the basket with handle, shift the basket with handle a little.",
+    "Grab the small playingcards container, set it into the light brown oval basket.",
+    "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 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 blue and white playingcards packaging, place it in the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging, drop it in the brown basket, then move the brown basket.",
+    "Pick up the small playingcards container and set it inside the brown basket.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the woven basket.",
+    "Place the palm-sized playingcards carton 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, shift the smooth ribbed light brown basket.",
+    "Use one arm to place the palm-sized playingcards carton in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Lift the blue pack holding playingcards, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Pick and move the small playingcards container, then 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 handle, slide the basket with handle lightly.",
+    "Pick the playingcards box with white symbols and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Lift the card box with golden designs, place it into the brown basket, move the brown basket.",
+    "Move the playingcards pack with blue top to the basket made of woven wood, then shift the basket made of woven wood.",
+    "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 playingcards box with white symbols in the woven basket.",
+    "Put the blue carton for playingcards in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Place the playingcards pack with blue top into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the blue and white playingcards packaging, put it inside the basket for carrying things.",
+    "Grab the palm-sized playingcards carton and drop it in the basket for holding items.",
+    "Put the rectangular blue playingcards case 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 card box with golden designs, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Take the blue and white playingcards packaging, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the blue pack holding playingcards and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick the blue pack holding playingcards, place it in the basket with handle, shift 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 blue carton for playingcards, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "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.",
+    "Lift the blue carton for 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 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 smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Grab the box of playingcards, set it into the woven basket.",
+    "Grab the rectangular blue playingcards case, 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 oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick the palm-sized playingcards carton, place it in the light brown oval basket.",
+    "Grab the blue carton for playingcards, drop it in the woven basket, then move the woven basket.",
+    "Pick up the blue and white playingcards packaging and set 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 basket with handle.",
+    "Place the blue and white playingcards packaging in the basket for carrying things, then grab 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.",
+    "Use one arm to place the box of playingcards in the woven basket, adjust the woven basket.",
+    "Lift the card box with golden designs, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Pick and move the palm-sized playingcards carton, then shift the smooth ribbed light brown basket.",
+    "Pick the box of playingcards, drop the box of playingcards in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Pick the blue carton for playingcards and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Lift the small playingcards container, place it into the basket with handle, move the basket with handle.",
+    "Move the palm-sized playingcards carton to the brown basket, then shift the brown basket.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the light brown oval basket.",
+    "Use one arm to place the blue pack holding playingcards in the basket for carrying things.",
+    "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.",
+    "Place the playingcards box with white symbols into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the blue and white playingcards packaging, put it inside the light brown oval basket.",
+    "Grab the blue pack holding playingcards and drop it in the basket with loop handle.",
+    "Put the small playingcards container 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 pack with blue top, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Take the rectangular blue playingcards case, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick up the blue pack holding playingcards and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the smooth playingcards holder, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Set the smooth playingcards holder in the basket for holding items, and shift the basket for holding items away.",
+    "Grab the blue playingcards box, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Take the box of playingcards, put the box of playingcards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "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.",
+    "Pick up the playingcards pack with blue top, place it in the basket with loop handle, grab the basket with loop handle.",
+    "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, set it into the basket for carrying things.",
+    "Grab the rectangular blue playingcards case, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "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 the smooth playingcards holder, place it in the basket for holding items.",
+    "Grab the playingcards pack with blue top, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the card box with golden designs and set it inside the woven basket.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the light brown oval basket.",
+    "Place the small playingcards container in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the playingcards box with white symbols in the basket for holding items, adjust 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 and move the blue and white playingcards packaging, then shift the oval-shaped basket with woven body.",
+    "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.",
+    "Pick the card box with golden designs and position it in the basket with handle, move the basket with handle slightly.",
+    "Lift the smooth playingcards holder, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Move the blue pack holding playingcards to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the smooth ribbed light brown basket.",
+    "Use one arm to place the playingcards pack with blue top in the basket for carrying things.",
+    "Put the smooth playingcards holder in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body 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 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 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 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.",
+    "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.",
+    "Place the rectangular playingcards pack 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 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 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 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.",
+    "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.",
+    "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 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 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 pack, put 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.",
+    "Grab the small packet of playingcards 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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 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.",
+    "Grab the rectangular playingcards case with patterns, put 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.",
+    "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 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.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards 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 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.",
+    "Grab the small packet of playingcards 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.",
+    "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 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 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.",
+    "Grab the small packet of playingcards, put 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.",
+    "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.",
+    "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 small packet of playingcards 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 pack, put 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.",
+    "Grab the small packet of playingcards and put it in 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 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.",
+    "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 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 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 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 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 rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "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 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 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.",
+    "Place the rectangular playingcards pack in the basket with rounded edges 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 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 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 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.",
+    "Grab the rectangular playingcards pack 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 rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/scene_info.json b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..13163ab5082bbcdc50bb27e5d7583ce441bf8810
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/scene_info.json
@@ -0,0 +1,16352 @@
+{
+    "episode_0": {
+        "robotwin_gen": {
+            "pose_region": null,
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.0,
+                                0.0
+                            ],
+                            "ylim": [
+                                0.0,
+                                0.0
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.3,
+                                0.3
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.7853981633974483,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.02,
+                                0.02
+                            ],
+                            "ylim": [
+                                -0.07,
+                                -0.07
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                0.0,
+                                0.1
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.5235987755982988,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.1,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0,
+                                1.0471975511965976
+                            ]
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.02,
+                                0.02
+                            ],
+                            "ylim": [
+                                -0.07,
+                                -0.07
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                -0.1,
+                                0.1
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.5235987755982988,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                0.03,
+                                0.23
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                1,
+                                0
+                            ]
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.05,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.03,
+                                0.23
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                1,
+                                0
+                            ]
+                        }
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+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                1,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                0.25
+                            ],
+                            "ylim": [
+                                -0.2,
+                                0.0
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.7,
+                                0
+                            ]
+                        }
+                    }
+                }
+            },
+            "suite": "spatial",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "place_object_basket",
+            "f2": "main_object_pose_region",
+            "f2_value": "default_region",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "default_region",
+            "fixed_factors": [
+                "language templates",
+                "visual domain",
+                "lighting",
+                "distractors",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_49": {
+        "robotwin_gen": {
+            "pose_region": null,
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.0,
+                                0.0
+                            ],
+                            "ylim": [
+                                0.0,
+                                0.0
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.3,
+                                0.3
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.7853981633974483,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.02,
+                                0.02
+                            ],
+                            "ylim": [
+                                -0.07,
+                                -0.07
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                0.0,
+                                0.1
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.5235987755982988,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.1,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0,
+                                1.0471975511965976
+                            ]
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                0.02,
+                                0.02
+                            ],
+                            "ylim": [
+                                -0.07,
+                                -0.07
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                -0.1,
+                                0.1
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.5235987755982988,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.05
+                            ],
+                            "ylim": [
+                                0.03,
+                                0.23
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                1,
+                                0
+                            ]
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.05,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.03,
+                                0.23
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                1,
+                                0
+                            ]
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                0.25
+                            ],
+                            "ylim": [
+                                -0.2,
+                                0.0
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": true,
+                            "rotate_lim": [
+                                0,
+                                0.7,
+                                0
+                            ]
+                        }
+                    }
+                }
+            },
+            "suite": "spatial",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "place_object_basket",
+            "f2": "main_object_pose_region",
+            "f2_value": "default_region",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "default_region",
+            "fixed_factors": [
+                "language templates",
+                "visual domain",
+                "lighting",
+                "distractors",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    }
+}
\ No newline at end of file
diff --git a/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/seed.txt b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ecd47f387cea99ab2c66c7ca96ae69b8f14b5365
--- /dev/null
+++ b/spatial/train/place_object_basket/rtgen_spatial_train_place_object_basket_default_region/seed.txt
@@ -0,0 +1 @@
+872365425 935184936 681479750 1694341833 1871682103 1265351810 959829913 561989920 1789753981 1768811683 1444374332 1098358907 1805151776 1992866265 297555232 1171920700 522920248 410709822 47917615 1328293162 1174862331 1068402899 845593756 2047609146 1502436928 1600415758 119265542 2119386489 247344453 666407434 1470981517 1609758967 352021470 1437140031 1308560511 1949383080 46915778 1567119329 888046743 1592325094 980465051 2037262318 247108918 19486654 2113533560 1362404566 1183294837 1490197685 192395564 1852446745 
\ No newline at end of file
diff --git a/spatial/train/rotate_qrcode/rtgen_spatial_train_rotate_qrcode_default_region/instructions/episode5.json b/spatial/train/rotate_qrcode/rtgen_spatial_train_rotate_qrcode_default_region/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c27cc2006ec03a8e2888a29bdace7cb57a3bcc6
--- /dev/null
+++ b/spatial/train/rotate_qrcode/rtgen_spatial_train_rotate_qrcode_default_region/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.",
+    "Use the right arm to grab the paymentsign showing QR code label and rotate it until the QR faces forward",
+    "Lift the smooth beige paymentsign 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 paymentsign showing QR code label, pick it up, and rotate to show the QR code.",
+    "Grab the beige paymentsign with printed details using the right arm, then rotate it until the qrcode faces you.",
+    "Find the beige paymentsign, grab it, and turn it towards yourself.",
+    "Use the right arm to lift the compact paymentsign for scanning payments from the table and face the qrcode.",
+    "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate the QR code to face forward.",
+    "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you",
+    "Use the right arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.",
+    "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the right arm.",
+    "Catch the paymentsign with blue and white text, lift it, and rotate it QR code facing.",
+    "Use the right arm to grab the paymentsign showing QR code label and rotate QR code towards you.",
+    "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.",
+    "Lift the paymentsign resting on angled base and rotate it until the QR code faces you.",
+    "Grab the beige paymentsign with the right arm, then rotate it to face yourself.",
+    "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.",
+    "Use the right arm to grab the smooth beige paymentsign, lift, and turn it QR code forward",
+    "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.",
+    "Lift the beige paymentsign from the table, turning it QR code forward.",
+    "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.",
+    "Lift the paymentsign resting on angled base from the table and rotate it towards you",
+    "Use the right arm to grab the beige paymentsign and point its QR code toward you.",
+    "Catch the QR code paymentsign with the right arm, then rotate it to make the QR code visible.",
+    "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.",
+    "Pick the smooth beige paymentsign up, then rotate to make its qrcode visible.",
+    "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.",
+    "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.",
+    "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.",
+    "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front",
+    "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.",
+    "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward",
+    "Use the right arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.",
+    "Lift the QR code paymentsign from the table and rotate it so the code faces you.",
+    "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you",
+    "Catch and lift the paymentsign with tilted rectangular panel, then turn it to show the QR code.",
+    "Pick up the compact paymentsign for scanning payments and rotate it so the QR code faces you",
+    "Lift the paymentsign with blue and white text from the surface and adjust its angle towards you",
+    "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.",
+    "Locate the beige paymentsign, pick it up, and adjust its angle.",
+    "Use the right arm to pick the paymentsign resting on angled base and turn it towards you.",
+    "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.",
+    "Grab the smooth beige paymentsign using the right arm, lift, and rotate until QR code faces you.",
+    "Using the right arm, catch the paymentsign resting on angled base and rotate it to face the QR code.",
+    "Catch the paymentsign showing QR code label off the table and rotate its qrcode to you.",
+    "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.",
+    "Lift the beige paymentsign with printed details with the right arm, then rotate it to make the qrcode visible.",
+    "Use the right arm to take the beige paymentsign and turn it until the QR code faces you",
+    "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.",
+    "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.",
+    "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward",
+    "Lift the stand-up paymentsign with rectangular top 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 beige paymentsign with printed details, pick it up, and rotate to show the QR code.",
+    "Grab the QR code paymentsign using the right arm, then rotate it until the qrcode faces you.",
+    "Find the QR code paymentsign, grab it, and turn it towards yourself.",
+    "Use the right arm to lift the QR code paymentsign from the table and face the qrcode.",
+    "Grab the compact paymentsign for scanning payments using the right arm, then rotate the QR code to face forward.",
+    "Take the small paymentsign for mobile payments, lift it, and orient it so the QR faces you",
+    "Use the right arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.",
+    "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the right arm.",
+    "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.",
+    "Use the right arm to grab the beige paymentsign with printed details and rotate QR code towards you.",
+    "Catch the compact paymentsign for scanning payments, lift it, and adjust its QR code to face you.",
+    "Lift the paymentsign with tilted rectangular panel and rotate it until the QR code faces you.",
+    "Grab the paymentsign showing QR code label with the right arm, then rotate it to face yourself.",
+    "Catch the paymentsign showing QR code label using the right arm, pick it up, and turn it to face the QR code.",
+    "Use the right arm to grab the compact paymentsign for scanning payments, lift, and turn it QR code forward",
+    "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.",
+    "Lift the paymentsign resting on angled base from the table, turning it QR code forward.",
+    "Pick the paymentsign showing QR code label up and turn its QR code toward you using the right arm.",
+    "Lift the paymentsign showing QR code label from the table and rotate it towards you",
+    "Use the right arm to grab the paymentsign resting on angled base and point its QR code toward you.",
+    "Catch the smooth beige paymentsign with the right arm, then rotate it to make the QR code visible.",
+    "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.",
+    "Pick the QR code paymentsign up, then rotate to make its qrcode visible.",
+    "Catch the beige paymentsign with printed details, lift it, and turn the qrcode towards you.",
+    "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.",
+    "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.",
+    "Grab the smooth beige paymentsign, lift it from the table, and rotate it QR front",
+    "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.",
+    "Employ the right arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward",
+    "Use the right arm to lift the paymentsign with tilted rectangular panel and rotate it QR code toward you.",
+    "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.",
+    "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you",
+    "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.",
+    "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you",
+    "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you",
+    "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.",
+    "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.",
+    "Use the right arm to pick the paymentsign resting on angled base and turn it towards you.",
+    "Pick up the beige paymentsign with printed details and adjust its position to face the qrcode towards you.",
+    "Grab the rectangular paymentsign with colorful top using the right arm, lift, and rotate until QR code faces you.",
+    "Using the right arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.",
+    "Catch the QR code paymentsign off the table and rotate its qrcode to you.",
+    "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.",
+    "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.",
+    "Use the right arm to take the small paymentsign for mobile payments and turn it until the QR code faces you",
+    "Use the right arm to grab the paymentsign resting on angled base and rotate the qrcode to face you."
+  ],
+  "unseen": [
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "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.",
+    "Pick the paymentsign with angled stand off the table using the right arm and rotate it.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "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 turn it to face 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.",
+    "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",
+    "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.",
+    "Pick the paymentsign with QR code off the table using the right arm and rotate it.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "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 off the table using the right arm and rotate it.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "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 turn it to face you",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with angled stand from the table and rotate it",
+    "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 off the table using the right arm and rotate it.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "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 turn it to face 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.",
+    "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",
+    "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.",
+    "Pick the paymentsign with angled stand off the table using the right arm and rotate it.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "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 turn it to face you",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "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 the paymentsign with angled stand off the table using the right arm and rotate it.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "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 turn it to face you",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "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 the paymentsign with QR code off the table using the right arm and rotate it.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "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 turn it to face 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.",
+    "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "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 the paymentsign with angled stand off the table using the right arm and rotate it.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward 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 to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "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.",
+    "Pick the paymentsign with angled stand off the table using the right arm and rotate it.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward 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 to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "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.",
+    "Pick the tabletop paymentsign off the table using the right arm and rotate it.",
+    "Pick the paymentsign with QR code up from the table and rotate it.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you"
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/rotate_qrcode/rtgen_spatial_train_rotate_qrcode_default_region/instructions/episode6.json b/spatial/train/rotate_qrcode/rtgen_spatial_train_rotate_qrcode_default_region/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..7642d29bdc333f1ea68912c45ec2a9bcca6e956d
--- /dev/null
+++ b/spatial/train/rotate_qrcode/rtgen_spatial_train_rotate_qrcode_default_region/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.",
+    "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.",
+    "Pick up the rectangular paymentsign with colorful top 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",
+    "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.",
+    "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the left arm.",
+    "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.",
+    "Grab the paymentsign with tilted rectangular panel using the left arm, lift, and rotate until QR code faces you.",
+    "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.",
+    "Grab the paymentsign with blue and white text using the left arm, then rotate it until the qrcode faces you.",
+    "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.",
+    "Pick the beige paymentsign with printed details up and turn its QR code toward you using the left arm.",
+    "Locate the paymentsign with blue and white text, pick it up, and adjust its angle.",
+    "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you",
+    "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 rotate it so the code faces you.",
+    "Slide the compact paymentsign for scanning payments off the table and turn it to face you.",
+    "Pick up the beige paymentsign and rotate it so the QR code faces you",
+    "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.",
+    "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.",
+    "Lift the small paymentsign for mobile payments from the table and rotate it towards you",
+    "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.",
+    "Use the left arm to lift the QR code paymentsign and rotate it QR code toward you.",
+    "Use the left arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you",
+    "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.",
+    "Catch the stand-up paymentsign with rectangular top using the left arm, pick it up, and turn it to face the QR code.",
+    "Use the left arm to pick the beige paymentsign and turn it towards you.",
+    "Use the left arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.",
+    "Lift the paymentsign with blue and white text from the table, turning it QR code forward.",
+    "Grab the smooth beige paymentsign with the left arm, then rotate it to face yourself.",
+    "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.",
+    "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 QR code paymentsign and rotate the qrcode to face you.",
+    "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.",
+    "Use the left arm to grab the QR code paymentsign, rotate, and face the QR code towards you.",
+    "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards 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, pick it up, and turn its qrcode toward you.",
+    "Grab the beige paymentsign using the left arm, then rotate the QR code to face forward.",
+    "Lift the compact paymentsign for scanning payments from the table and turn it to face 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 grab the small paymentsign for mobile payments, lift, and turn it QR code forward",
+    "Lift the QR code paymentsign and rotate it until the QR code faces you.",
+    "Pick the QR code paymentsign up, rotate it, and ensure 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 paymentsign showing QR code label off the table and rotate its qrcode to you.",
+    "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front",
+    "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you",
+    "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.",
+    "Use the left arm to grab the beige paymentsign and point its QR code toward you.",
+    "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.",
+    "Catch the beige paymentsign with printed details, lift, and rotate to align the qrcode to you.",
+    "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.",
+    "Employ the left arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward",
+    "Pick the paymentsign resting on angled base up, then rotate to make its qrcode visible.",
+    "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the left arm.",
+    "Lift the paymentsign with blue and white text and rotate until its qrcode faces you.",
+    "Grab the rectangular paymentsign with colorful top using the left arm, lift, and rotate until QR code faces you.",
+    "Lift the QR code paymentsign and rotate for its qrcode to face you.",
+    "Grab the beige paymentsign using the left arm, then rotate it until the qrcode faces you.",
+    "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.",
+    "Pick the compact paymentsign for scanning payments up and turn its QR code toward you using the left arm.",
+    "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.",
+    "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you",
+    "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you",
+    "Lift the QR code paymentsign from the table and rotate it so the code faces you.",
+    "Slide the compact paymentsign for scanning payments off the table and turn it to face you.",
+    "Pick up the beige paymentsign with printed details and rotate it so the QR code faces you",
+    "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.",
+    "Take the paymentsign showing QR code label from the table, rotating it QR code toward you.",
+    "Lift the beige paymentsign from the table and rotate it towards you",
+    "Lift the small paymentsign for mobile payments 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.",
+    "Use the left arm to take the paymentsign resting on angled base and turn it until the QR code faces you",
+    "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.",
+    "Catch the paymentsign showing QR code label using the left arm, pick it up, and turn it to face the QR code.",
+    "Use the left arm to pick the beige paymentsign and turn it towards you.",
+    "Use the left arm to lift the small paymentsign for mobile payments from the table and face the qrcode.",
+    "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.",
+    "Grab the paymentsign resting on angled base with the left arm, then rotate it to face yourself.",
+    "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.",
+    "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 paymentsign with blue and white text and rotate the qrcode to face you.",
+    "Catch the beige paymentsign, lift it, and adjust its QR code to face you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.",
+    "Catch the beige paymentsign with printed details, lift it, and turn the qrcode towards you.",
+    "Catch and lift the rectangular paymentsign with colorful top, then turn it to show the QR code.",
+    "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.",
+    "Grab the smooth beige paymentsign using the left arm, then rotate the QR code to face forward.",
+    "Lift the compact paymentsign for scanning payments from 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 grab the paymentsign with blue and white text, lift, and turn it QR code forward",
+    "Lift the paymentsign with blue and white text and rotate it until the QR code faces you.",
+    "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.",
+    "Use the left arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward",
+    "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.",
+    "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front",
+    "Take the QR code paymentsign, lift it, and orient it so the QR faces you",
+    "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.",
+    "Use the left arm to grab the QR code paymentsign and point its QR code toward you."
+  ],
+  "unseen": [
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "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.",
+    "Catch the tabletop paymentsign from the table and rotate it",
+    "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.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward 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.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "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.",
+    "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 rotate until the QR code faces you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "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 tabletop paymentsign, 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.",
+    "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.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "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 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.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "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 paymentsign with angled stand, 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.",
+    "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.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "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 tabletop paymentsign, 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.",
+    "Catch the paymentsign with QR code on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "Catch the paymentsign with QR code 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 rotate until the QR code faces you.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "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.",
+    "Grab the tabletop paymentsign, lift it, and turn it to face you",
+    "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.",
+    "Catch the paymentsign with QR code from the table and rotate it",
+    "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.",
+    "Pick up the paymentsign with angled stand and rotate it to face its QR code toward 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.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "Pick the paymentsign with angled stand off the table using the left arm and rotate it.",
+    "Catch the paymentsign with angled stand from the table and make it face you.",
+    "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 rotate until the QR code faces you.",
+    "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "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.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "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.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Catch the paymentsign with angled stand 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 rotate until the QR code faces you.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward 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.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode."
+  ]
+}
\ No newline at end of file
diff --git a/spatial/train/rotate_qrcode/rtgen_spatial_train_rotate_qrcode_default_region/instructions/episode9.json b/spatial/train/rotate_qrcode/rtgen_spatial_train_rotate_qrcode_default_region/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..84b42c6072ff93753454012a15bb3454c60b69be
--- /dev/null
+++ b/spatial/train/rotate_qrcode/rtgen_spatial_train_rotate_qrcode_default_region/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.",
+    "Use the left arm to lift the beige paymentsign with printed details and rotate it QR code toward you.",
+    "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.",
+    "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.",
+    "Grab the stand-up paymentsign with rectangular top using the left arm, then rotate it until the qrcode faces you.",
+    "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.",
+    "Lift the stand-up paymentsign with rectangular top from the table and rotate it towards you",
+    "Pick the compact paymentsign for scanning payments up and turn its QR code toward you using the left arm.",
+    "Locate the QR code paymentsign, pick it up, and adjust its angle.",
+    "Lift the paymentsign resting on angled base from the table and turn it to face you.",
+    "Slide the compact paymentsign for scanning payments off the table and turn it to face you.",
+    "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.",
+    "Use the left arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward",
+    "Use the left arm to pick the paymentsign resting on angled base and turn it towards you.",
+    "Use the left arm to take the paymentsign with tilted rectangular panel and turn it until the QR code faces 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 paymentsign with tilted rectangular panel from the table and face the qrcode.",
+    "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.",
+    "Catch the paymentsign with tilted rectangular panel using the left arm, pick it up, and turn it to face the QR code.",
+    "Use the left arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.",
+    "Catch the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the QR code visible.",
+    "Find the QR code paymentsign, grab it, and turn it towards yourself.",
+    "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.",
+    "Catch the paymentsign showing QR code label off the table and rotate its qrcode to you.",
+    "Use the left arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.",
+    "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you",
+    "Use the left arm to grab the compact paymentsign for scanning payments and rotate QR code towards you.",
+    "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.",
+    "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.",
+    "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.",
+    "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.",
+    "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.",
+    "Take the paymentsign with tilted rectangular panel, raise it, and make the qrcode face you.",
+    "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front",
+    "Grab the compact paymentsign for scanning payments using the left arm, lift, and rotate until QR code faces you.",
+    "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.",
+    "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.",
+    "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.",
+    "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.",
+    "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you",
+    "Lift the paymentsign with tilted rectangular panel and rotate it until the QR code faces you.",
+    "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate it until the QR faces forward",
+    "Grab the paymentsign with blue and white text using the left arm, then rotate the QR code to face forward.",
+    "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.",
+    "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the left arm.",
+    "Employ the left arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward",
+    "Pick the rectangular paymentsign with colorful top up, then rotate to make its qrcode visible.",
+    "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.",
+    "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you",
+    "Catch the compact paymentsign for scanning payments, raise it, and turn it so the QR code faces you",
+    "Catch the small paymentsign for mobile payments, 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 paymentsign showing QR code label from the table, rotating it QR code toward you.",
+    "Catch the QR code paymentsign, lift it, and adjust its QR code to face you.",
+    "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.",
+    "Catch the paymentsign showing QR code label, pick it up, and rotate to view the qrcode.",
+    "Lift the beige paymentsign from the table and rotate it towards you",
+    "Pick the paymentsign showing QR code label up and turn its QR code toward you using the left arm.",
+    "Locate the beige paymentsign, pick it up, and adjust its angle.",
+    "Lift the paymentsign showing QR code label from the table and turn it to face you.",
+    "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.",
+    "Use the left arm to grab the paymentsign resting on angled base and point its QR code toward you.",
+    "Use the left arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward",
+    "Use the left arm to pick the QR code paymentsign and turn it towards you.",
+    "Use the left arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you",
+    "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.",
+    "Use the left arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.",
+    "Catch the paymentsign resting on angled base, lift, and rotate to align the qrcode to you.",
+    "Catch the small paymentsign for mobile payments using the left arm, pick it up, and turn it to face the QR code.",
+    "Use the left arm to grab the beige paymentsign with printed details and rotate the qrcode to face you.",
+    "Catch the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the QR code visible.",
+    "Find the smooth beige paymentsign, grab it, and turn it towards yourself.",
+    "Lift the compact paymentsign for scanning payments and rotate for its qrcode to face you.",
+    "Catch the paymentsign showing QR code label 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.",
+    "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you",
+    "Use the left arm to grab the paymentsign showing QR code label and rotate QR code towards you.",
+    "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.",
+    "Lift the rectangular paymentsign with colorful top with the left arm, then rotate it to make the qrcode visible.",
+    "Lift the beige paymentsign and rotate until its qrcode faces you.",
+    "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.",
+    "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.",
+    "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.",
+    "Grab the beige paymentsign, lift it from the table, and rotate it QR front",
+    "Grab the rectangular paymentsign with colorful top using the left arm, lift, and rotate until QR code faces you.",
+    "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.",
+    "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.",
+    "Catch and lift the beige paymentsign, then turn it to show the QR code.",
+    "Catch the small paymentsign for mobile payments, pick it up, and rotate to show the QR code.",
+    "Pick up the beige paymentsign with printed details and rotate it so the QR code faces you",
+    "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.",
+    "Use the left arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward",
+    "Grab the small paymentsign for mobile payments using the left arm, then rotate the QR code to face forward.",
+    "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.",
+    "Lift the paymentsign showing QR code label and orient its QR code toward you with the left arm.",
+    "Employ the left arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward",
+    "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.",
+    "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.",
+    "Take the stand-up paymentsign with rectangular top, lift it, and orient it so the QR faces you",
+    "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you"
+  ],
+  "unseen": [
+    "Pick the paymentsign with angled stand 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 QR code and rotate it to face its QR code toward you.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "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.",
+    "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 paymentsign with angled stand and rotate it facing 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 up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "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",
+    "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.",
+    "Pick the paymentsign with angled stand 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 tabletop paymentsign from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "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.",
+    "Pick up the tabletop paymentsign and rotate it facing you.",
+    "Pick the paymentsign with angled stand 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 make it face you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "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",
+    "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.",
+    "Pick the paymentsign with angled stand 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 tabletop paymentsign from the table and make it face you.",
+    "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.",
+    "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.",
+    "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 paymentsign with QR code and rotate it facing 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 up the paymentsign with QR code and rotate it to face its QR code toward you.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Grab the paymentsign with angled stand, lift it, and turn it to face you",
+    "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",
+    "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.",
+    "Pick the tabletop paymentsign up from the table and rotate it.",
+    "Catch the tabletop paymentsign on the table and pick it up.",
+    "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "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 angled stand and rotate it facing 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 tabletop paymentsign from the table and make it face you.",
+    "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "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",
+    "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.",
+    "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 up the tabletop paymentsign and rotate it to face its QR code toward you.",
+    "Catch the tabletop paymentsign from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "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.",
+    "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.",
+    "Pick up the tabletop paymentsign and rotate it facing 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 QR code and rotate it to face its QR code toward you.",
+    "Catch the paymentsign with QR code from the table and make it face you.",
+    "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.",
+    "Grab the paymentsign with QR code, lift it, and turn it to face you",
+    "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",
+    "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."
+  ]
+}
\ No newline at end of file